{"id":"https://openalex.org/W1480743297","doi":"https://doi.org/10.1109/iros.2004.1389472","title":"A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot","display_name":"A biologically inspired CPG-ZMP control system for the real-time balance of a single-legged belly dancing robot","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W1480743297","doi":"https://doi.org/10.1109/iros.2004.1389472","mag":"1480743297"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389472","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5060249268","display_name":"Jimmy Or","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP","US"],"is_corresponding":true,"raw_author_name":"J. Or","raw_affiliation_strings":["Humanoid Robotics Institute, Waseda University, Shinjuku, Tokyo, Japan","[Humanoid Robotics Institute, Waseda University, Tokyo, Japan]"],"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"[Humanoid Robotics Institute, Waseda University, Tokyo, Japan]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001014223","display_name":"A. Takanishi","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"A. Takanishi","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","School of Creative Science and Engineering"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Shinjuku, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"School of Creative Science and Engineering","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5060249268"],"corresponding_institution_ids":["https://openalex.org/I150744194","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":0.582,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.67666703,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"931","last_page":"936"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9710999727249146,"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":0.9635000228881836,"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":0.7629039287567139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7557401657104492},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6576552391052246},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6153280735015869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5402154326438904},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5384144186973572},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.48683565855026245},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41384655237197876},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4097539782524109},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36800479888916016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3415810167789459},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3067207336425781},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3032689392566681},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19915735721588135}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7629039287567139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7557401657104492},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6576552391052246},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6153280735015869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5402154326438904},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5384144186973572},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.48683565855026245},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41384655237197876},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4097539782524109},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36800479888916016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3415810167789459},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3067207336425781},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3032689392566681},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19915735721588135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389472","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389472","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W968663011","https://openalex.org/W1523024513","https://openalex.org/W2013661116","https://openalex.org/W2097800022","https://openalex.org/W2145944877","https://openalex.org/W2157056019","https://openalex.org/W2159801650","https://openalex.org/W2770883819","https://openalex.org/W4248901411","https://openalex.org/W4285719527","https://openalex.org/W6631432124","https://openalex.org/W6683614759"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2606527650","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2362004994","https://openalex.org/W1965124047"],"abstract_inverted_index":{"Recently,":[0],"a":[1,25,38,53,60,157],"few":[2],"researchers":[3],"have":[4],"started":[5],"to":[6,14,23,45,99,153,156],"realize":[7],"that":[8,147],"in":[9,28,48,102,130],"order":[10],"for":[11,21,59],"humanoid":[12,165],"robots":[13,44],"move":[15],"more":[16],"naturally,":[17],"it":[18],"is":[19],"necessary":[20],"them":[22],"incorporate":[24],"flexible":[26,62,161],"spine":[27,43,63,79],"their":[29,42],"robots.":[30,166],"So":[31],"far,":[32],"nobody":[33],"has":[34,150],"come":[35],"out":[36],"with":[37],"solution":[39],"which":[40],"allows":[41,96],"maintain":[46,100],"balance":[47,101],"real-time.":[49,103],"This":[50],"paper":[51],"presents":[52],"biologically":[54],"inspired,":[55],"hybrid":[56],"CPG-ZMP":[57],"controller":[58,149],"single-legged,":[61],"belly":[64],"dancing":[65],"robot.":[66],"Using":[67],"only":[68],"two":[69],"control":[70],"parameters,":[71],"our":[72,148],"robot":[73,98],"can":[74],"generate":[75],"rhythmic":[76],"and":[77,141],"wave-like":[78],"motions":[80,127],"through":[81,132],"the":[82,87,90,93,97,111,118,136,142,151],"CPG":[83],"component.":[84],"By":[85],"monitoring":[86],"torque":[88],"at":[89],"robot's":[91,112,126],"ankle,":[92],"ZMP":[94],"component":[95],"Unlike":[104],"traditional":[105],"ZMP-based":[106],"controllers,":[107],"no":[108],"modeling":[109],"of":[110,117,160],"dynamics":[113],"or":[114],"explicit":[115],"computations":[116],"zero":[119],"moment":[120],"point":[121],"are":[122],"required.":[123],"The":[124],"resultant":[125],"emerge":[128],"automatically":[129],"real-time":[131],"dynamic":[133],"interactions":[134],"between":[135],"robot,":[137],"its":[138],"neural":[139],"network":[140],"environment.":[143],"Experimental":[144],"results":[145],"indicate":[146],"potential":[152],"be":[154],"applied":[155],"new":[158],"generation":[159],"spine,":[162],"biped":[163],"walking":[164]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
