{"id":"https://openalex.org/W2110749531","doi":"https://doi.org/10.1109/icra.2011.5980007","title":"An improved ZMP trajectory design for the biped robot BHR","display_name":"An improved ZMP trajectory design for the biped robot BHR","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2110749531","doi":"https://doi.org/10.1109/icra.2011.5980007","mag":"2110749531"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980007","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":"conference-paper","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/A5002392301","display_name":"Wei Xu","orcid":"https://orcid.org/0000-0002-3505-1428"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Xu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336978","display_name":"Jing Li","orcid":"https://orcid.org/0000-0002-7106-1340"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Li","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100293910","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0001-6934-5347"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100461059","display_name":"Qian Xu","orcid":"https://orcid.org/0000-0001-5690-0583"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qian Xu","raw_affiliation_strings":["School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"569","last_page":"574"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/zero-moment-point","display_name":"Zero moment point","score":0.9299426078796387},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8238444328308105},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.67194664478302},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.6411151885986328},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5999906063079834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5868403315544128},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5093311071395874},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45065802335739136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37062129378318787},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22052240371704102},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.16539359092712402},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16277462244033813},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13881826400756836},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06708747148513794}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.9299426078796387},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8238444328308105},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.67194664478302},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6411151885986328},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5999906063079834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5868403315544128},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5093311071395874},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45065802335739136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37062129378318787},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22052240371704102},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.16539359092712402},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16277462244033813},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13881826400756836},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06708747148513794},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980007","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1510877189","https://openalex.org/W1581909396","https://openalex.org/W1874049655","https://openalex.org/W2095590857","https://openalex.org/W2104963352","https://openalex.org/W2107063340","https://openalex.org/W2125193285","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2148338288","https://openalex.org/W2158866377","https://openalex.org/W2170918662","https://openalex.org/W6630513491","https://openalex.org/W6674550494","https://openalex.org/W6678669206"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2363225614","https://openalex.org/W2358580561","https://openalex.org/W2090655727","https://openalex.org/W781058189","https://openalex.org/W2253287589","https://openalex.org/W2319945395","https://openalex.org/W2150864167","https://openalex.org/W2317947966"],"abstract_inverted_index":{"An":[0],"improved":[1],"ZMP":[2,21,38,51],"(Zero":[3],"Moment":[4],"Point)":[5],"trajectory":[6,22],"for":[7,68],"a":[8,18],"biped":[9],"robot":[10],"is":[11,44,66,90],"designed":[12],"in":[13,23,39,57],"this":[14],"paper,":[15],"which":[16,65,78],"imitates":[17],"human's":[19],"actual":[20],"the":[24,50,58,70,88],"walking":[25,31,71,95],"process.":[26],"A":[27],"new":[28],"method":[29,89],"of":[30,55,60,83,87],"pattern":[32],"generation":[33],"based":[34],"on":[35,97],"forward":[36,53],"moving":[37,52],"SSP":[40],"(Single":[41],"Support":[42],"Phase)":[43],"also":[45],"provided.":[46],"It":[47],"can":[48],"keep":[49],"instead":[54],"staying":[56],"center":[59],"supporting":[61],"region":[62],"during":[63],"SSP,":[64],"helpful":[67],"increasing":[69],"speed.":[72],"We":[73],"have":[74],"been":[75],"developing":[76],"BHR,":[77],"has":[79],"38":[80],"DOFs":[81],"(degree":[82],"freedom).":[84],"The":[85],"effectiveness":[86],"conducted":[91],"by":[92],"simulation":[93],"and":[94],"experiment":[96],"BHR.":[98]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
