{"id":"https://openalex.org/W2169573773","doi":"https://doi.org/10.1109/iros.2003.1250739","title":"Control and online computation of stable movement for biped robots","display_name":"Control and online computation of stable movement for biped robots","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2169573773","doi":"https://doi.org/10.1109/iros.2003.1250739","mag":"2169573773"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5108078580","display_name":"Konstantin Kondak","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Kondak","raw_affiliation_strings":["Institut f\u00fcr Technische Informatik und ME, Technische Universit\u00e4t Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Technische Informatik und ME, Technische Universit\u00e4t Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107560832","display_name":"G. Hommel","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"G. Hommel","raw_affiliation_strings":["Institut f\u00fcr Technische Informatik und ME, Technische Universit\u00e4t Berlin, Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institut f\u00fcr Technische Informatik und ME, Technische Universit\u00e4t Berlin, Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4577782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"874","last_page":"879"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9634000062942505,"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/T12290","display_name":"Human Motion and Animation","score":0.9477999806404114,"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/control-theory","display_name":"Control theory (sociology)","score":0.7508566975593567},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7230114340782166},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7156429290771484},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6963562965393066},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6750884652137756},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.6549753546714783},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4944925010204315},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4907868802547455},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.47935348749160767},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.44953659176826477},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4257749617099762},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42090246081352234},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2991524040699005},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2939292788505554},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25602516531944275},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20806577801704407},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1281033754348755}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7508566975593567},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7230114340782166},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7156429290771484},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6963562965393066},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6750884652137756},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6549753546714783},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4944925010204315},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4907868802547455},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.47935348749160767},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.44953659176826477},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4257749617099762},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42090246081352234},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2991524040699005},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2939292788505554},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25602516531944275},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20806577801704407},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1281033754348755},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250739","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250739","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1496777766","https://openalex.org/W1545656448","https://openalex.org/W2135406175","https://openalex.org/W2142992961","https://openalex.org/W2145944877","https://openalex.org/W2151669579","https://openalex.org/W2160111545","https://openalex.org/W2484938213","https://openalex.org/W2756747141","https://openalex.org/W6629617714"],"related_works":["https://openalex.org/W2996778109","https://openalex.org/W2371538778","https://openalex.org/W1912566312","https://openalex.org/W2151114014","https://openalex.org/W2114372896","https://openalex.org/W2048319068","https://openalex.org/W2368185326","https://openalex.org/W2386420955","https://openalex.org/W2651176679","https://openalex.org/W2141022958"],"abstract_inverted_index":{"The":[0,20,56,87,123],"presented":[1],"algorithm":[2,21,57,88,127],"enables":[3],"a":[4,8,12,61,95,99,131],"biped":[5,81,96,112],"to":[6,11,72,91],"perform":[7,114],"stable":[9,54],"movement":[10],"defined":[13],"goal":[14,105],"without":[15],"using":[16],"any":[17],"precomputed":[18],"trajectories.":[19],"merges":[22],"the":[23,27,64,69,76,80,85,92,104,111,126],"trajectory":[24],"generation":[25],"and":[26,31,67,82],"control":[28,40],"along":[29,41],"it,":[30],"can":[32,113],"be":[33],"used":[34],"for":[35,38,48,53,74,83],"global":[36],"control,":[37],"local":[39],"an":[42,107],"existing":[43],"trajectory,":[44],"as":[45,47,106,117],"well":[46],"online":[49],"computation":[50],"of":[51,63,79,94,125],"trajectories":[52],"movement.":[55],"is":[58,89,128],"based":[59],"on":[60],"decoupling":[62],"non-linear":[65],"model":[66,93],"changing":[68],"steering":[70],"torques":[71],"account":[73],"both":[75],"overall":[77],"stability":[78],"achieving":[84],"goal.":[86],"applied":[90],"moving":[97],"in":[98,130],"sagittal":[100],"plane.":[101],"By":[102],"specifying":[103],"arbitrary":[108],"pelvis":[109],"position":[110],"movements":[115],"such":[116],"sitting":[118],"down":[119],"or":[120],"standing":[121],"up.":[122],"performance":[124],"demonstrated":[129],"simulation.":[132]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}