{"id":"https://openalex.org/W2104709070","doi":"https://doi.org/10.1109/iros.2004.1389686","title":"On the stability of indirect ZMP controller for biped robot systems","display_name":"On the stability of indirect ZMP controller for biped robot systems","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2104709070","doi":"https://doi.org/10.1109/iros.2004.1389686","mag":"2104709070"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389686","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":"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/A5064000503","display_name":"Youngjin Choi","orcid":"https://orcid.org/0000-0002-5009-9059"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngjin Choi","raw_affiliation_strings":["Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102148147","display_name":"Bum-Jae You","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bum-Jae You","raw_affiliation_strings":["Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014100305","display_name":"Sang\u2013Rok Oh","orcid":"https://orcid.org/0000-0002-1102-031X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sang-Rok Oh","raw_affiliation_strings":["Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Research Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Intelligent Robotics Res. Center, Korea Inst. of Sci. & Technol., Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1966","last_page":"1971"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9817000031471252,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.8112561106681824},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.6138068437576294},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5835412740707397},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5720925331115723},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5609515309333801},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5441009998321533},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5351729393005371},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49714258313179016},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.46567532420158386},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.44131699204444885},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.28942230343818665},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15677154064178467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13052603602409363},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06029242277145386}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8112561106681824},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.6138068437576294},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5835412740707397},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5720925331115723},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5609515309333801},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5441009998321533},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5351729393005371},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49714258313179016},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.46567532420158386},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.44131699204444885},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.28942230343818665},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15677154064178467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13052603602409363},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06029242277145386},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2004.1389686","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389686","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1507051311","https://openalex.org/W2118320757","https://openalex.org/W2122369027","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2141377539","https://openalex.org/W2142132924","https://openalex.org/W2150387201","https://openalex.org/W2155614956","https://openalex.org/W2163781471","https://openalex.org/W2793703875","https://openalex.org/W3027718775","https://openalex.org/W6680585183","https://openalex.org/W6684083822","https://openalex.org/W6749558014"],"related_works":["https://openalex.org/W1988603010","https://openalex.org/W4302290647","https://openalex.org/W2898815460","https://openalex.org/W2698593353","https://openalex.org/W2317940939","https://openalex.org/W2008326336","https://openalex.org/W2732939747","https://openalex.org/W2054106476","https://openalex.org/W2090855129","https://openalex.org/W3101555838"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,40,49,59,66,73,81,94,100,105,111,119,127,135],"indirect":[4,87,121,137],"zero":[5],"momentum":[6],"position":[7,45],"(ZMP)":[8],"controller":[9,89,123,139],"for":[10,31,54,126],"biped":[11,36,56,129],"robot":[12,37,57,130],"systems":[13],"and":[14,46,104,113],"proves":[15],"its":[16],"disturbance":[17],"input-to-state":[18],"stability":[19],"(ISS).":[20],"The":[21,86,116,132],"ZMP":[22,41,60,83,88,102,122,138],"control":[23,34],"has":[24],"been":[25],"used":[26],"as":[27],"a":[28,55],"standard":[29],"method":[30],"stable":[32],"walking":[33],"of":[35,44,48,51,68,97,118,134],"systems.":[38],"Since":[39],"information":[42],"consists":[43],"acceleration":[47],"center":[50],"gravity":[52],"(COG)":[53],"system,":[58],"can":[61],"be":[62],"indirectly":[63],"controlled":[64],"by":[65,79],"motion":[67,96],"COG.":[69],"In":[70],"this":[71],"paper,":[72],"reference":[74,82,101,112],"COG":[75,98,106],"planner":[76],"is":[77,90,124,140],"developed":[78],"solving":[80],"differential":[84],"equation.":[85],"proposed":[91,120,136],"to":[92],"derive":[93],"desired":[95],"from":[99],"trajectory":[103],"error":[107],"(the":[108],"difference":[109],"between":[110],"real":[114],"COG).":[115],"ISS":[117],"proved":[125],"simplified":[128],"model.":[131],"robustness":[133],"shown":[141],"in":[142],"simulation.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
