{"id":"https://openalex.org/W2901251284","doi":"https://doi.org/10.1109/iisr.2018.8535689","title":"Development of Humanoid Robot and Biped Walking Based on Linear Inverted Pendulum Model","display_name":"Development of Humanoid Robot and Biped Walking Based on Linear Inverted Pendulum Model","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2901251284","doi":"https://doi.org/10.1109/iisr.2018.8535689","mag":"2901251284"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535689","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 Intelligence and Safety for Robotics (ISR)","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/A5019048736","display_name":"Yanzheng Lu","orcid":"https://orcid.org/0000-0002-1573-5419"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yanzheng Lu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020992815","display_name":"Zhiguo L\u00fc","orcid":"https://orcid.org/0000-0003-1003-9876"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiguo Lu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013336840","display_name":"Yongii Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongii Yu","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101809286","display_name":"Haibin Zhao","orcid":"https://orcid.org/0000-0002-3443-8639"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Zhao","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100341426","display_name":"Yichen Zhang","orcid":"https://orcid.org/0009-0006-8963-1272"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yichen Zhang","raw_affiliation_strings":["Institute of Mechatronic Engineering, Northeastern University, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronic Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019048736"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.3269,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.57940872,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"244","last_page":"249"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9714000225067139,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9532999992370605,"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":0.8865770101547241},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8790624141693115},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6391329169273376},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6140148043632507},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6100612878799438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5758149027824402},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5557580590248108},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5255640745162964},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5220001339912415},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.45142948627471924},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3950313925743103},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33878496289253235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2838554382324219},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16543632745742798},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09408783912658691},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07456481456756592}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8865770101547241},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8790624141693115},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6391329169273376},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6140148043632507},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6100612878799438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5758149027824402},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5557580590248108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5255640745162964},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5220001339912415},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.45142948627471924},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3950313925743103},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33878496289253235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2838554382324219},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16543632745742798},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09408783912658691},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07456481456756592},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iisr.2018.8535689","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535689","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 Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"},{"score":0.4000000059604645,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1555601014","https://openalex.org/W1560270123","https://openalex.org/W2130912818","https://openalex.org/W2138671676","https://openalex.org/W2184783306","https://openalex.org/W2507612881","https://openalex.org/W2553210671","https://openalex.org/W6885010371"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W3134555460","https://openalex.org/W4389401105","https://openalex.org/W2291700020"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,14,17,21,28,52,71,74,77],"exploration":[4],"and":[5,36,70],"development":[6],"of":[7,16,23,25,30,73,76],"a":[8,55],"teen-size":[9],"humanoid":[10,18,31],"robot":[11,19,32,53],"platform,":[12],"from":[13],"design":[15],"mechanism,":[20],"configuration":[22],"degrees":[24],"freedom,":[26],"to":[27,50],"establishment":[29],"forward":[33],"kinematic":[34,38],"model":[35,39,48],"inverse":[37],"which":[40],"is":[41],"in":[42],"closed-form.":[43],"Using":[44],"linear":[45],"inverted":[46],"pendulum":[47],"(LIPM)":[49],"make":[51],"achieve":[54],"stable":[56],"walking":[57],"after":[58],"planning":[59],"gait.":[60],"We":[61],"used":[62],"inertial":[63],"measurement":[64],"unit":[65],"(IMU)":[66],"for":[67],"measuring":[68],"ZMP":[69],"orientation":[72],"trunk":[75],"robot.":[78]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}