{"id":"https://openalex.org/W2115358446","doi":"https://doi.org/10.1109/iros.2009.5354092","title":"A walking pattern generation method with feedback and feedforward control for humanoid robots","display_name":"A walking pattern generation method with feedback and feedforward control for humanoid robots","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2115358446","doi":"https://doi.org/10.1109/iros.2009.5354092","mag":"2115358446"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5024861042","display_name":"Seokmin Hong","orcid":"https://orcid.org/0000-0002-2058-7051"},"institutions":[{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]},{"id":"https://openalex.org/I197347611","display_name":"Korea University","ror":"https://ror.org/047dqcg40","country_code":"KR","type":"education","lineage":["https://openalex.org/I197347611"]},{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":true,"raw_author_name":"Seokmin Hong","raw_affiliation_strings":["Korea Institute of Science and Technology (KIST), Korea University of Science and Technology, South Korea","Korea University of Science and Technology(UST) and Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), KOREA"],"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology (KIST), Korea University of Science and Technology, South Korea","institution_ids":["https://openalex.org/I197347611","https://openalex.org/I58716616","https://openalex.org/I88761825","https://openalex.org/I4210140519"]},{"raw_affiliation_string":"Korea University of Science and Technology(UST) and Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), KOREA","institution_ids":["https://openalex.org/I88761825"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107873500","display_name":"Yonghwan Oh","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":"Yonghwan Oh","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015238827","display_name":"Doik Kim","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":"Doik Kim","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","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":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology (KIST), Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024861042"],"corresponding_institution_ids":["https://openalex.org/I197347611","https://openalex.org/I4210140519","https://openalex.org/I58716616","https://openalex.org/I88761825"],"apc_list":null,"apc_paid":null,"fwci":0.4447,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68170059,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1078","last_page":"1083"},"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":0.9717000126838684,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9334999918937683,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/zero-moment-point","display_name":"Zero moment point","score":0.867323100566864},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8582165241241455},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8145101070404053},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8001492023468018},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7940598726272583},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6314518451690674},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5950137376785278},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4950184226036072},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31247326731681824},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.24112975597381592},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19749793410301208},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17645639181137085},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12180382013320923}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.867323100566864},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8582165241241455},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8145101070404053},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8001492023468018},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7940598726272583},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6314518451690674},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5950137376785278},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4950184226036072},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31247326731681824},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.24112975597381592},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19749793410301208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17645639181137085},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12180382013320923},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354092","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354092","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1551977735","https://openalex.org/W1581909396","https://openalex.org/W1964956827","https://openalex.org/W2012519971","https://openalex.org/W2045267947","https://openalex.org/W2095634498","https://openalex.org/W2107063340","https://openalex.org/W2113394636","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2143505417","https://openalex.org/W2143982885","https://openalex.org/W2732939747","https://openalex.org/W2991542025","https://openalex.org/W6676972351"],"related_works":["https://openalex.org/W2168647525","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"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,31,58,62],"new":[4],"walking":[5,23,47,110,114,121],"pattern":[6,24],"generation":[7],"method":[8,14,29,101],"for":[9,22],"humanoid":[10],"robots.":[11],"The":[12,26,49,96],"proposed":[13,100],"consists":[15],"of":[16,37,64,69,85,98,120],"feedforward":[17,59],"control":[18,21],"and":[19,45,87,117],"feedback":[20,32],"generation.":[25],"pole":[27],"placement":[28],"as":[30,57,108],"controller":[33,60],"changes":[34],"the":[35,66,90,99],"poles":[36],"system":[38],"in":[39],"order":[40],"to":[41,81],"generate":[42],"more":[43],"stable":[44],"smoother":[46],"pattern.":[48],"advanced":[50],"pole-zero":[51],"cancellation":[52],"by":[53,104],"series":[54],"approximation":[55],"(PZCSA)":[56],"plays":[61],"role":[63],"reducing":[65],"inherent":[67],"property":[68,79],"linear":[70],"inverted":[71],"pendulum":[72],"model":[73],"(LIPM),":[74],"that":[75],"is,":[76],"non-minimum":[77],"phase":[78,115],"due":[80],"an":[82],"unstable":[83],"zero":[84,92],"LIPM":[86],"tracking":[88],"efficiently":[89],"desired":[91],"moment":[93],"point":[94],"(ZMP).":[95],"efficiency":[97],"is":[102],"verified":[103],"three":[105],"simulations":[106],"such":[107],"arbitrary":[109,113],"step":[111],"length,":[112],"time":[116],"sudden":[118],"change":[119],"path.":[122]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
