{"id":"https://openalex.org/W2891303851","doi":"https://doi.org/10.1109/icra.2018.8461140","title":"Inclusion of Angular Momentum During Planning for Capture Point Based Walking","display_name":"Inclusion of Angular Momentum During Planning for Capture Point Based Walking","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891303851","doi":"https://doi.org/10.1109/icra.2018.8461140","mag":"2891303851"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","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/A5004324932","display_name":"Tim Seyde","orcid":"https://orcid.org/0000-0001-9592-4465"},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Tim Seyde","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States"],"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045577176","display_name":"Apoorv Shrivastava","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Apoorv Shrivastava","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States"],"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028440671","display_name":"Johannes Englsberger","orcid":"https://orcid.org/0000-0002-8117-2650"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Englsberger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110745109","display_name":"Sylvain Bertrand","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvain Bertrand","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States"],"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113506843","display_name":"Jerry Pratt","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jerry Pratt","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States"],"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101810887","display_name":"Robert J. Griffin","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert J. Griffin","raw_affiliation_strings":["Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States"],"affiliations":[{"raw_affiliation_string":"Florida Institute for Human and Machine Cognition (IHMC), Pensacola, FL, United States","institution_ids":["https://openalex.org/I1335578998"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5004324932"],"corresponding_institution_ids":["https://openalex.org/I1335578998"],"apc_list":null,"apc_paid":null,"fwci":1.7818,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.84274797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1791","last_page":"1798"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9833999872207642,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9785000085830688,"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/swing","display_name":"Swing","score":0.8515051603317261},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.8256075978279114},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7161899209022522},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5793960094451904},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.5379564762115479},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5323923826217651},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.4794846475124359},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4429014325141907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43683528900146484},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.42449355125427246},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.4181331992149353},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4106614291667938},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.3435494899749756},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.333456814289093},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22075608372688293},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14942532777786255},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12172713875770569},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.11583074927330017},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.0916806161403656},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0788516104221344}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.8515051603317261},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.8256075978279114},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7161899209022522},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5793960094451904},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.5379564762115479},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5323923826217651},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.4794846475124359},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4429014325141907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43683528900146484},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.42449355125427246},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.4181331992149353},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4106614291667938},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.3435494899749756},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.333456814289093},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22075608372688293},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14942532777786255},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12172713875770569},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.11583074927330017},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0916806161403656},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0788516104221344},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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":3,"locations":[{"id":"doi:10.1109/icra.2018.8461140","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461140","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:130953","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:elib.dlr.de:141809","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ICRA.2018.8461140>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.800000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1968106150","https://openalex.org/W2006564886","https://openalex.org/W2018343737","https://openalex.org/W2036484113","https://openalex.org/W2061983716","https://openalex.org/W2068935277","https://openalex.org/W2079995373","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2139612757","https://openalex.org/W2149407815","https://openalex.org/W2335044248","https://openalex.org/W2539534359","https://openalex.org/W2573267872","https://openalex.org/W2771599024","https://openalex.org/W3102212813","https://openalex.org/W3145941942","https://openalex.org/W6655028147","https://openalex.org/W6667977005","https://openalex.org/W6680431648"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2631800242","https://openalex.org/W2944815795","https://openalex.org/W1522532261","https://openalex.org/W3013617078","https://openalex.org/W2370555329","https://openalex.org/W2161417279","https://openalex.org/W2128863907","https://openalex.org/W2170755073","https://openalex.org/W3045553226"],"abstract_inverted_index":{"When":[0],"walking":[1,27],"at":[2,34],"high":[3],"speeds,":[4],"the":[5,35,44,54,94,114],"swing":[6,92],"legs":[7],"of":[8,56,93],"robots":[9],"produce":[10,74],"a":[11,21,81],"non-negligible":[12],"angular":[13,32,86],"momentum":[14,33,87],"rate.":[15],"To":[16],"accommodate":[17],"this,":[18],"we":[19],"provide":[20,80],"reference":[22],"trajectory":[23,62,99],"generator":[24,100],"for":[25],"bipedal":[26],"that":[28],"incorporates":[29],"predicted":[30],"centroidal":[31],"planning":[36],"stage.":[37],"This":[38,69],"can":[39],"be":[40],"done":[41],"efficiently":[42],"as":[43,88],"Centroidal":[45],"Moment":[46],"Pivot":[47],"(CMP),":[48],"Instantaneous":[49],"Capture":[50],"Point":[51],"(ICP)":[52],"and":[53,106],"center":[55],"mass":[57],"(CoM)":[58],"all":[59],"have":[60],"closed-form":[61],"solutions":[63],"due":[64],"to":[65,73,84,110],"their":[66],"linear":[67],"dynamics.":[68],"is":[70,101],"then":[71],"used":[72],"smooth,":[75],"continuous":[76],"trajectories.":[77],"We":[78],"furthermore":[79],"lightweight":[82],"model":[83],"estimate":[85],"induced":[89],"during":[90],"leg":[91],"gait":[95],"cycle.":[96],"Our":[97],"proposed":[98],"tested":[102],"thoroughly":[103],"in":[104],"simulation":[105],"has":[107],"been":[108],"shown":[109],"successfully":[111],"operate":[112],"on":[113],"real":[115],"hardware.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
