{"id":"https://openalex.org/W2415458238","doi":"https://doi.org/10.1109/icra.2016.7487538","title":"A versatile and efficient pattern generator for generalized legged locomotion","display_name":"A versatile and efficient pattern generator for generalized legged locomotion","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2415458238","doi":"https://doi.org/10.1109/icra.2016.7487538","mag":"2415458238"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5059986205","display_name":"Justin Carpentier","orcid":"https://orcid.org/0000-0001-6585-2894"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Justin Carpentier","raw_affiliation_strings":["CNRS, Univ. de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Univ. de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043622443","display_name":"Steve Tonneau","orcid":"https://orcid.org/0000-0003-3001-8693"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Steve Tonneau","raw_affiliation_strings":["CNRS, Univ. de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Univ. de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009317342","display_name":"Maximilien Naveau","orcid":"https://orcid.org/0000-0002-1350-262X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maximilien Naveau","raw_affiliation_strings":["CNRS, Univ. de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Univ. de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071048560","display_name":"Olivier Stasse","orcid":"https://orcid.org/0000-0001-8569-6155"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Olivier Stasse","raw_affiliation_strings":["CNRS, Univ. de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Univ. de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 de Toulouse","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["CNRS, Univ. de Toulouse, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Univ. de Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5059986205"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349"],"apc_list":null,"apc_paid":null,"fwci":11.3962,"has_fulltext":false,"cited_by_count":114,"citation_normalized_percentile":{"value":0.98934883,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"3555","last_page":"3561"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9907000064849854,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9871000051498413,"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":0.7317596673965454},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7068251967430115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6882227063179016},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.6645181775093079},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6315286159515381},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5751830339431763},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5608679056167603},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5116925239562988},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48996129631996155},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4772912561893463},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47500288486480713},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4603239595890045},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3836304843425751},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33581122756004333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3068588078022003},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.128129780292511}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7317596673965454},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7068251967430115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6882227063179016},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.6645181775093079},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6315286159515381},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5751830339431763},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5608679056167603},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5116925239562988},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48996129631996155},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4772912561893463},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47500288486480713},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4603239595890045},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3836304843425751},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33581122756004333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3068588078022003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.128129780292511},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487538","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487538","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1525662195","https://openalex.org/W1560450306","https://openalex.org/W1964946446","https://openalex.org/W1978815112","https://openalex.org/W1995199698","https://openalex.org/W1999684857","https://openalex.org/W2000359213","https://openalex.org/W2015149365","https://openalex.org/W2024896907","https://openalex.org/W2036136762","https://openalex.org/W2042408133","https://openalex.org/W2049410986","https://openalex.org/W2056223738","https://openalex.org/W2092953817","https://openalex.org/W2128990851","https://openalex.org/W2133859362","https://openalex.org/W2147285788","https://openalex.org/W2153622987","https://openalex.org/W2196946749","https://openalex.org/W2204604557","https://openalex.org/W2345626358","https://openalex.org/W2546218531","https://openalex.org/W2587742116","https://openalex.org/W3023483464","https://openalex.org/W3102212813","https://openalex.org/W3105740793","https://openalex.org/W6634866701","https://openalex.org/W6704763665","https://openalex.org/W6728703410","https://openalex.org/W6733045190"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W1992962589","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W3032871857","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W4389401105","https://openalex.org/W2014928560"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,25,32,76,86,103,110,114,125,133,149,177],"generic":[4],"and":[5,109,175],"efficient":[6],"approach":[7],"to":[8,30,72,96,147],"generate":[9],"dynamically":[10],"consistent":[11],"motions":[12],"for":[13,48],"under-actuated":[14],"systems":[15],"like":[16],"humanoid":[17],"or":[18,58,61],"quadruped":[19],"robots.":[20],"The":[21,138,157],"main":[22],"contribution":[23],"is":[24,69,93,118,129,144,155,162],"walking":[26,116,174],"pattern":[27,83,117],"generator,":[28],"able":[29],"compute":[31,98],"stable":[33,115],"trajectory":[34,128],"of":[35,38,40,52,106,140,159],"the":[36,41,45,99,107,122,141,152,160,168],"center":[37],"mass":[39],"robot":[42],"along":[43],"with":[44,62,179],"angular":[46],"momentum,":[47],"any":[49],"given":[50],"configuration":[51],"contacts":[53],"(e.g.":[54],"on":[55,167],"uneven,":[56],"sloppy":[57],"slippery":[59],"terrain,":[60],"closed-gripper).":[63],"Unlike":[64],"existing":[65],"methods,":[66],"our":[67],"solver":[68],"fast":[70,145],"enough":[71,146],"be":[73],"applied":[74],"as":[75],"model-predictive":[77],"controller.":[78],"We":[79],"then":[80,119],"integrate":[81],"this":[82],"generator":[84],"in":[85],"complete":[87],"framework:":[88],"an":[89],"acyclic":[90],"contact":[91,100],"planner":[92],"first":[94],"used":[95],"automatically":[97],"sequence":[101],"from":[102],"3D":[104],"model":[105],"environment":[108],"desired":[111],"final":[112],"posture;":[113],"computed":[120],"by":[121,164,171],"proposed":[123],"solver;":[124],"dynamically-stable":[126],"whole-body":[127],"finally":[130],"obtained":[131],"using":[132],"second-order":[134],"hierarchical":[135],"inverse":[136],"kinematics.":[137],"implementation":[139],"whole":[142],"pipeline":[143],"plan":[148],"step":[150],"while":[151],"previous":[153],"one":[154],"executed.":[156],"interest":[158],"method":[161],"demonstrated":[163],"real":[165],"experiments":[166],"HRP-2":[169],"robot,":[170],"performing":[172],"long-step":[173],"climbing":[176],"staircase":[178],"handrail":[180],"support.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":8},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":18},{"year":2016,"cited_by_count":10}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
