{"id":"https://openalex.org/W2908460684","doi":"https://doi.org/10.1109/iecon.2018.8591280","title":"An Optimized Algorithm Based on Energy Efficiency for Gait Planning of Humanoid Robots","display_name":"An Optimized Algorithm Based on Energy Efficiency for Gait Planning of Humanoid Robots","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2908460684","doi":"https://doi.org/10.1109/iecon.2018.8591280","mag":"2908460684"},"language":"en","primary_location":{"id":"doi:10.1109/iecon.2018.8591280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2018.8591280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society","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/A5100775507","display_name":"Mengying Wang","orcid":"https://orcid.org/0000-0003-0162-5355"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengying Wang","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, Anhui Province, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010515266","display_name":"Rongchuan Wang","orcid":"https://orcid.org/0009-0007-6587-2394"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongchuan Wang","raw_affiliation_strings":["CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China","institution_ids":["https://openalex.org/I2802624667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100853003","display_name":"Jianghai Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianghai Zhao","raw_affiliation_strings":["CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China","institution_ids":["https://openalex.org/I2802624667"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100601973","display_name":"Peng Sun","orcid":"https://orcid.org/0000-0002-7170-1088"},"institutions":[{"id":"https://openalex.org/I2802624667","display_name":"Hefei Institutes of Physical Science","ror":"https://ror.org/046n57345","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I2802624667"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Sun","raw_affiliation_strings":["CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CAS, Hefei Institutes of Physical Science, Changzhou, Jiangsu Province, China","institution_ids":["https://openalex.org/I2802624667"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5612","last_page":"5617"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9973000288009644,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.9446648359298706},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8489954471588135},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7389366626739502},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6626466512680054},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6211969256401062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6206451654434204},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5783223509788513},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5505443811416626},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5139538645744324},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.437163770198822},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4229086637496948},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.41703683137893677},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40119123458862305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3415372371673584},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20745214819908142},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20563200116157532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16810303926467896},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10425594449043274},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06856226921081543}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.9446648359298706},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8489954471588135},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7389366626739502},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6626466512680054},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6211969256401062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6206451654434204},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5783223509788513},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5505443811416626},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5139538645744324},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.437163770198822},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4229086637496948},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.41703683137893677},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40119123458862305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3415372371673584},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20745214819908142},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20563200116157532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16810303926467896},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10425594449043274},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06856226921081543},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"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/iecon.2018.8591280","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon.2018.8591280","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8999999761581421,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1497252052","https://openalex.org/W1510877189","https://openalex.org/W1905736656","https://openalex.org/W1969958055","https://openalex.org/W1987580649","https://openalex.org/W2035757418","https://openalex.org/W2037915122","https://openalex.org/W2043382734","https://openalex.org/W2070594546","https://openalex.org/W2080488401","https://openalex.org/W2108127351","https://openalex.org/W2138136244","https://openalex.org/W2142568566","https://openalex.org/W2170918662","https://openalex.org/W2553612475","https://openalex.org/W6629611168","https://openalex.org/W6630513491","https://openalex.org/W6676284782","https://openalex.org/W6729709741"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"An":[0],"energy-efficient":[1],"gait":[2,54,64,70,115],"planning":[3,116],"method":[4,16],"is":[5,59,109,117],"proposed":[6,60],"by":[7,75,111],"imitating":[8],"natural":[9],"human":[10],"walking":[11,28,102],"in":[12],"this":[13],"paper.":[14],"This":[15],"uses":[17],"a":[18],"3D":[19],"Linear":[20],"Inverted":[21],"Pendulum":[22],"Model":[23],"(LIPM)":[24],"to":[25,61,95],"improve":[26],"the":[27,31,36,47,76,107,114],"efficiency":[29],"for":[30,71],"biped":[32],"robot,":[33],"which":[34],"utilizes":[35],"allowable":[37],"Zero":[38],"Moment":[39],"Point":[40],"(ZMP)":[41],"regions":[42],"and":[43,90,113],"slight":[44],"adjustment":[45],"of":[46,49,78,106],"Center":[48],"Mass":[50],"(COM).":[51],"The":[52,104],"novel":[53],"parameters":[55,65],"optimization":[56],"(NGPO)":[57],"algorithm":[58,108],"obtain":[62],"effective":[63],"that":[66],"can":[67],"synthesize":[68],"optimal":[69],"minimizing":[72],"energy":[73],"consumed":[74],"actuators":[77],"humanoid":[79,121],"robot":[80],"joints.":[81],"Moreover,":[82],"physical":[83],"constraints,":[84,86],"geometrical":[85],"friction":[87],"force":[88],"limit":[89,93],"yaw":[91],"moment":[92],"need":[94],"be":[96],"taken":[97],"into":[98],"consideration,":[99],"ensuring":[100],"feasible":[101],"trajectory.":[103],"validity":[105],"verified":[110],"simulation,":[112],"implemented":[118],"on":[119],"XT":[120],"robot.":[122]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}