{"id":"https://openalex.org/W2123898591","doi":"https://doi.org/10.1109/ichr.2009.5379574","title":"Controllers for running in the humanoid robot, HUBO","display_name":"Controllers for running in the humanoid robot, HUBO","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2123898591","doi":"https://doi.org/10.1109/ichr.2009.5379574","mag":"2123898591"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026284458","display_name":"Baek-Kyu Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Baek-Kyu Cho","raw_affiliation_strings":["KAIST, South Korea","KAIST, Republic of Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"KAIST, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008042255","display_name":"Sangsin Park","orcid":"https://orcid.org/0000-0002-9509-0058"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Sin Park","raw_affiliation_strings":["KAIST, South Korea","KAIST, Republic of Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"KAIST, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-ho Oh","raw_affiliation_strings":["KAIST, South Korea","KAIST, Republic of Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"KAIST, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"KAIST, Republic of Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026284458"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":3.5575,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.92585418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"385","last_page":"390"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9253000020980835,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9024564027786255},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6962258219718933},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6666284203529358},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.6601971983909607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5518768429756165},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5293691158294678},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45085376501083374},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.422454833984375},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37987250089645386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33052289485931396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3170740604400635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2554943859577179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25505852699279785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2039172649383545},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13670435547828674}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9024564027786255},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6962258219718933},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6666284203529358},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.6601971983909607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5518768429756165},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5293691158294678},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45085376501083374},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.422454833984375},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37987250089645386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33052289485931396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3170740604400635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2554943859577179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25505852699279785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2039172649383545},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13670435547828674},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2009.5379574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1942576536","https://openalex.org/W1973878153","https://openalex.org/W1997425609","https://openalex.org/W2042244683","https://openalex.org/W2092535029","https://openalex.org/W2108128471","https://openalex.org/W2110013467","https://openalex.org/W2115933773","https://openalex.org/W2118320757","https://openalex.org/W2125193285","https://openalex.org/W2137547873","https://openalex.org/W2161427949","https://openalex.org/W2165350174","https://openalex.org/W2167320745","https://openalex.org/W2170116736","https://openalex.org/W2539314278","https://openalex.org/W6676297898","https://openalex.org/W6678669206","https://openalex.org/W6684508460"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W4386128912","https://openalex.org/W2100910774"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,8,13,16,28,46,52,56,66,71,74,79,83,89,97],"controllers":[4,18,93],"for":[5],"running":[6,23],"in":[7,24,70,78,88],"humanoid":[9,26,57,98],"robot":[10,58],"and":[11,38,82,101],"verifies":[12],"validity":[14],"of":[15,34,45,65,110],"proposed":[17],"via":[19],"experiments.":[20],"To":[21],"realize":[22],"a":[25,107],"robot,":[27,99],"overall":[29],"control":[30,69,77],"structure":[31],"is":[32,49,63],"composed":[33,64],"an":[35,39],"off-line":[36],"controller":[37,48,62],"on-line":[40,61],"controller.":[41],"The":[42,60],"main":[43],"purpose":[44],"online":[47],"to":[50,96],"maintain":[51],"dynamic":[53],"stability":[54],"while":[55],"runs.":[59],"posture":[67],"balance":[68,76],"sagittal":[72,90],"plane,":[73,81],"transient":[75],"frontal":[80],"swing":[84],"ankle":[85],"pitch":[86],"compensator":[87],"plane.":[91],"These":[92],"were":[94],"applied":[95],"HUBO,":[100],"it":[102],"ran":[103],"forward":[104],"stably":[105],"at":[106],"maximum":[108],"speed":[109],"3.24":[111],"km/h.":[112]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
