{"id":"https://openalex.org/W2136678324","doi":"https://doi.org/10.1109/ichr.2010.5686286","title":"Humanoid walking coordination through a single spatial parameter","display_name":"Humanoid walking coordination through a single spatial parameter","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2136678324","doi":"https://doi.org/10.1109/ichr.2010.5686286","mag":"2136678324"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th 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/A5067085343","display_name":"Jean-Christophe Palyart Lamarche","orcid":null},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Jean-Christophe Palyart Lamarche","raw_affiliation_strings":["Universit\u00e0 degli studi di Genova, Genoa, Italy","Universit\u00e0 degli studi di Genova, Via Balbi, 5 - 16126, Italy"],"affiliations":[{"raw_affiliation_string":"Universit\u00e0 degli studi di Genova, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Universit\u00e0 degli studi di Genova, Via Balbi, 5 - 16126, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066445593","display_name":"Olivier Bruneau","orcid":null},"institutions":[{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":null,"type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]},{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Bruneau","raw_affiliation_strings":["Laboratoire dIng\u00e9nierie des Syst\u00e8mes de Versailles, Universit\u00e9 de Versailles Saint Quentin en Yvelines, Velizy-Villacoublay, France","Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles, Universit\u00e9 de Versailles, 10/12 Avenue de l'Europe, 78140 V\u00e9lizy, France"],"affiliations":[{"raw_affiliation_string":"Laboratoire dIng\u00e9nierie des Syst\u00e8mes de Versailles, Universit\u00e9 de Versailles Saint Quentin en Yvelines, Velizy-Villacoublay, France","institution_ids":["https://openalex.org/I195731000","https://openalex.org/I4390039377"]},{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles, Universit\u00e9 de Versailles, 10/12 Avenue de l'Europe, 78140 V\u00e9lizy, France","institution_ids":["https://openalex.org/I4390039377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110261719","display_name":"Jean\u2010Guy Fontaine","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jean-Guy Fontaine","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology, Via Morego, 30 - 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology, Via Morego, 30 - 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5067085343"],"corresponding_institution_ids":["https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.67909625,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"230","last_page":"236"},"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":0.992900013923645,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9602000117301941,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8358563780784607},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.7972368001937866},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5884215235710144},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5810019969940186},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5662007927894592},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5547376275062561},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.51380854845047},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.49968409538269043},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4188292324542999},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39163291454315186},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20762062072753906},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19980522990226746},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19826102256774902},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18643587827682495},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17397814989089966},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13903182744979858},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11258989572525024},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07800644636154175}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8358563780784607},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7972368001937866},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5884215235710144},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5810019969940186},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5662007927894592},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5547376275062561},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.51380854845047},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.49968409538269043},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4188292324542999},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39163291454315186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20762062072753906},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19980522990226746},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19826102256774902},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18643587827682495},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17397814989089966},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13903182744979858},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11258989572525024},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07800644636154175},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2010.5686286","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686286","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W1579244313","https://openalex.org/W1968716584","https://openalex.org/W1986096174","https://openalex.org/W1987035968","https://openalex.org/W2009135422","https://openalex.org/W2011199901","https://openalex.org/W2018444584","https://openalex.org/W2021368408","https://openalex.org/W2028179485","https://openalex.org/W2033208083","https://openalex.org/W2037277559","https://openalex.org/W2043152589","https://openalex.org/W2044471654","https://openalex.org/W2051287096","https://openalex.org/W2084658368","https://openalex.org/W2096208762","https://openalex.org/W2096498654","https://openalex.org/W2105560477","https://openalex.org/W2114806119","https://openalex.org/W2116217238","https://openalex.org/W2144834630","https://openalex.org/W2145961135","https://openalex.org/W2146616922","https://openalex.org/W2149464084","https://openalex.org/W2156174987","https://openalex.org/W2168957649","https://openalex.org/W2329167753","https://openalex.org/W6661357087","https://openalex.org/W6675770544","https://openalex.org/W6681998206"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2614575562","https://openalex.org/W2372645633","https://openalex.org/W2689391174","https://openalex.org/W2381102871","https://openalex.org/W1533581585","https://openalex.org/W2352999299"],"abstract_inverted_index":{"This":[0,50],"article":[1],"deals":[2],"with":[3,30,62],"the":[4,59,65,80,85,96,107,114,126],"generation":[5],"of":[6,28,58,70,113,120,128],"coordinated":[7],"movements":[8],"for":[9],"humanoid":[10,40,81],"walking.":[11,143],"The":[12,68,117],"objective":[13],"is":[14,123],"to":[15,64,77,84,137],"produce":[16],"feasible":[17],"smooth":[18,118],"and":[19,55,100,104],"natural":[20,141],"3D":[21],"dynamic":[22],"gaits":[23],"over":[24],"an":[25],"infinite":[26],"number":[27],"steps":[29],"a":[31,38,46,53,129],"single":[32,99],"input.":[33],"Our":[34],"novel":[35],"approach":[36,51,122],"controls":[37],"virtual":[39,130],"by":[41,125],"coordinating":[42],"spatial":[43],"data":[44],"in":[45],"time":[47],"independent":[48],"manner.":[49],"creates":[52],"robust":[54],"stable":[56],"control":[57,79],"leg":[60,66],"swing":[61,109],"respect":[63],"stance.":[67],"synchronization":[69],"thirteen":[71],"intermediate":[72],"key":[73],"parameters":[74],"allows":[75],"us":[76],"implicitly":[78],"pelvis":[82],"relatively":[83],"ground":[86],"(current":[87],"inverse":[88,115],"pendulum),":[89],"metatarsophalangeals":[90],"(MTP)":[91],"joints":[92],"flexion-extensions":[93],"(propulsion":[94],"during":[95,140],"transition":[97],"between":[98],"double":[101],"support":[102],"phase)":[103],"positions":[105],"through":[106],"foot":[108],"(future":[110],"rotation":[111],"center":[112],"pendulum).":[116],"coordination":[119],"this":[121],"illustrated":[124],"simulation":[127],"humanoid.":[131],"Obtained":[132],"motions":[133],"were":[134],"very":[135],"near":[136],"those":[138],"captured":[139],"human":[142]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
