{"id":"https://openalex.org/W2126729486","doi":"https://doi.org/10.1109/iros.2009.5354654","title":"Real time motion generation and control for biped robot -2<sup>nd</sup> report: Running gait pattern generation-","display_name":"Real time motion generation and control for biped robot -2<sup>nd</sup> report: Running gait pattern generation-","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2126729486","doi":"https://doi.org/10.1109/iros.2009.5354654","mag":"2126729486"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354654","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/A5001077903","display_name":"Toru Takenaka","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Toru Takenaka","raw_affiliation_strings":["Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]},{"raw_affiliation_string":"Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068935524","display_name":"Takashi Matsumoto","orcid":"https://orcid.org/0000-0003-0105-0061"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takashi Matsumoto","raw_affiliation_strings":["Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]},{"raw_affiliation_string":"Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056371595","display_name":"Takahide Yoshiike","orcid":"https://orcid.org/0000-0002-5388-9291"},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahide Yoshiike","raw_affiliation_strings":["Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]},{"raw_affiliation_string":"Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044375393","display_name":"Shinya Shirokura","orcid":null},"institutions":[{"id":"https://openalex.org/I1283473643","display_name":"Honda (Japan)","ror":"https://ror.org/03jzay846","country_code":"JP","type":"company","lineage":["https://openalex.org/I1283473643"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shinya Shirokura","raw_affiliation_strings":["Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan"],"affiliations":[{"raw_affiliation_string":"Honda Research & Development, Fundamental Research Center, Wako, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]},{"raw_affiliation_string":"Fundamental Research Center, Honda Research & Development, 8-1 Honcho, Wako-shi, Saitama, Japan","institution_ids":["https://openalex.org/I1283473643"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5001077903"],"corresponding_institution_ids":["https://openalex.org/I1283473643"],"apc_list":null,"apc_paid":null,"fwci":10.267,"has_fulltext":false,"cited_by_count":271,"citation_normalized_percentile":{"value":0.98715865,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1092","last_page":"1099"},"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":0.9901000261306763,"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":0.9562000036239624,"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/gait","display_name":"Gait","score":0.6660480499267578},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6659462451934814},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.6384822726249695},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5775216817855835},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5510768890380859},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5257105231285095},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5022635459899902},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4934305250644684},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47926804423332214},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4616386592388153},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.458800733089447},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4513222575187683},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.4160380959510803},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.33776411414146423},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3346053957939148},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.32111501693725586},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.29460108280181885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27208083868026733},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2003849446773529},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1173577606678009},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11506536602973938},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10302931070327759},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.09352964162826538}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6660480499267578},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6659462451934814},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.6384822726249695},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5775216817855835},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5510768890380859},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5257105231285095},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5022635459899902},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4934305250644684},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47926804423332214},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4616386592388153},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.458800733089447},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4513222575187683},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.4160380959510803},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.33776411414146423},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3346053957939148},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.32111501693725586},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.29460108280181885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27208083868026733},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2003849446773529},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1173577606678009},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11506536602973938},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10302931070327759},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.09352964162826538},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","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/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.2009.5354654","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354654","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1551919560","https://openalex.org/W1874049655","https://openalex.org/W1971175227","https://openalex.org/W2036484113","https://openalex.org/W2118320757","https://openalex.org/W2119577431","https://openalex.org/W2123477693","https://openalex.org/W2127093075","https://openalex.org/W2129754669","https://openalex.org/W2130117525","https://openalex.org/W2133859362","https://openalex.org/W2135537910","https://openalex.org/W2138085575","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2153717729","https://openalex.org/W2157836285","https://openalex.org/W2161427949","https://openalex.org/W2163921174","https://openalex.org/W2164681577","https://openalex.org/W2168936093","https://openalex.org/W2539534359","https://openalex.org/W2540018960","https://openalex.org/W2732939747","https://openalex.org/W2991542025"],"related_works":["https://openalex.org/W3151350794","https://openalex.org/W1997284351","https://openalex.org/W4248594638","https://openalex.org/W4237778897","https://openalex.org/W2065415803","https://openalex.org/W2158963372","https://openalex.org/W2549172904","https://openalex.org/W2079033496","https://openalex.org/W2034736708","https://openalex.org/W2992118945"],"abstract_inverted_index":{"Bipedal":[0],"running":[1,34,69,82],"can":[2],"easily":[3],"result":[4],"in":[5],"a":[6,33,89],"fall":[7],"due":[8],"to":[9,29],"poor":[10],"availability":[11],"of":[12,20,61,74,77],"the":[13,18,21,58,75],"ground":[14,46],"reaction":[15],"force":[16],"at":[17,83],"boundary":[19,56],"flight":[22],"and":[23,31,40],"support":[24],"phases.":[25],"We":[26,51],"propose":[27],"methods":[28],"decompose":[30],"synthesize":[32],"gait":[35,66],"pattern":[36],"into":[37,68],"vertical,":[38],"horizontal":[39],"rotational":[41],"components":[42],"so":[43],"that":[44],"time-dependent":[45],"friction":[47],"limits":[48],"are":[49,94],"satisfied.":[50],"also":[52],"extend":[53],"previously":[54],"proposed":[55],"condition,":[57],"divergent":[59],"component":[60],"motion,":[62],"for":[63],"switching":[64],"walking":[65],"patterns":[67],"which":[70],"involves":[71],"vertical":[72],"acceleration":[73],"center":[76],"gravity.":[78],"Using":[79],"these":[80],"techniques,":[81],"10":[84],"km/h":[85],"is":[86],"achieved":[87],"on":[88],"real":[90],"robot":[91],"whose":[92],"dimension":[93],"same":[95],"as":[96],"ASIMO.":[97]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":21},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":26},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":23},{"year":2015,"cited_by_count":17},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":24},{"year":2012,"cited_by_count":24}],"updated_date":"2026-03-20T20:47:17.329874","created_date":"2025-10-10T00:00:00"}