{"id":"https://openalex.org/W1969172238","doi":"https://doi.org/10.1109/icra.2011.5979889","title":"Rebalance strategies for humanoids walking by foot positioning compensator based on adaptive heteroscedastic SpGPs","display_name":"Rebalance strategies for humanoids walking by foot positioning compensator based on adaptive heteroscedastic SpGPs","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W1969172238","doi":"https://doi.org/10.1109/icra.2011.5979889","mag":"1969172238"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5081656092","display_name":"Tao Xu","orcid":"https://orcid.org/0000-0002-5783-6859"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tao Xu","raw_affiliation_strings":["School of Electronics and Information, Tongji University, China","School of Electronics and Information, TongJi University, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Tongji University, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Electronics and Information, TongJi University, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qijun Chen","raw_affiliation_strings":["School of Electronics and Information, Tongji University, China","School of Electronics and Information, TongJi University, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Tongji University, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Electronics and Information, TongJi University, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052222899","display_name":"Zhiqiang Cai","orcid":"https://orcid.org/0000-0002-7380-8110"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiqiang Cai","raw_affiliation_strings":["School of Electronics and Information, Tongji University, China","School of Electronics and Information, TongJi University, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Tongji University, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"School of Electronics and Information, TongJi University, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5081656092"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.06040622,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"563","last_page":"568"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9951000213623047,"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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9696000218391418,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7793575525283813},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6546381711959839},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6023718118667603},{"id":"https://openalex.org/keywords/heteroscedasticity","display_name":"Heteroscedasticity","score":0.5843758583068848},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5003550052642822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4820324182510376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.46135851740837097},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4116787314414978},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13664856553077698}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7793575525283813},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6546381711959839},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6023718118667603},{"id":"https://openalex.org/C101104100","wikidata":"https://www.wikidata.org/wiki/Q1063540","display_name":"Heteroscedasticity","level":2,"score":0.5843758583068848},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5003550052642822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4820324182510376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.46135851740837097},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4116787314414978},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13664856553077698},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979889","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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":21,"referenced_works":["https://openalex.org/W1586775594","https://openalex.org/W1815731809","https://openalex.org/W1975225255","https://openalex.org/W1994275787","https://openalex.org/W2037729465","https://openalex.org/W2038389843","https://openalex.org/W2049069367","https://openalex.org/W2057667075","https://openalex.org/W2066771046","https://openalex.org/W2099768828","https://openalex.org/W2116310395","https://openalex.org/W2122759103","https://openalex.org/W2123719714","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2138136244","https://openalex.org/W2149764047","https://openalex.org/W2991542025","https://openalex.org/W4285719527","https://openalex.org/W6674989108","https://openalex.org/W6680585183"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W1676609285","https://openalex.org/W3148934225","https://openalex.org/W2351648145","https://openalex.org/W2038165226","https://openalex.org/W2052845382","https://openalex.org/W4254549582","https://openalex.org/W2148483050","https://openalex.org/W4256317079","https://openalex.org/W3124109721"],"abstract_inverted_index":{"To":[0,18],"solve":[1],"the":[2,33,47,55,61,70,92,95,101,106,127],"rebalance":[3],"problem":[4],"of":[5,46,94,103],"a":[6,20,25,64,84],"full-body":[7,62,86,107],"humanoid":[8,87,108],"walking,":[9],"an":[10,113],"adaptive":[11],"foot":[12,48,97,121],"positioning":[13,49,98],"compensation":[14,120],"approach":[15],"is":[16,29,41,76],"proposed.":[17,78],"obtain":[19],"more":[21],"precise":[22],"initial":[23],"policy,":[24],"constrained":[26],"dynamics":[27],"model":[28,75],"used":[30],"to":[31,53,58,90,129],"generate":[32],"offline":[34],"policy.":[35,50,99],"A":[36],"heteroscedastic":[37,71],"sparse":[38,72],"Gaussian":[39,73],"process":[40,74],"applied":[42],"for":[43,69,126],"online":[44],"calculation":[45],"In":[51],"order":[52],"make":[54],"generated":[56],"policy":[57],"adapt":[59],"with":[60],"dynamics,":[63],"sample-efficient":[65],"MAP-like":[66],"updating":[67],"method":[68],"also":[77],"Experiments":[79],"on":[80],"both":[81],"simulation":[82],"and":[83,117],"real":[85],"are":[88],"developed":[89],"show":[91],"performance":[93],"final":[96],"With":[100],"help":[102],"proposed":[104],"method,":[105],"robot":[109,128],"succeeded":[110],"walking":[111],"down":[112],"elastic":[114],"deformable":[115],"platform":[116],"several":[118],"obvious":[119],"steps":[122],"can":[123],"be":[124],"observed":[125],"retrieve":[130],"its":[131],"balance.":[132]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}