{"id":"https://openalex.org/W2026275902","doi":"https://doi.org/10.1109/iros.2012.6386216","title":"Analytical real-time pattern generation for trajectory modification and footstep replanning of humanoid robots","display_name":"Analytical real-time pattern generation for trajectory modification and footstep replanning of humanoid robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2026275902","doi":"https://doi.org/10.1109/iros.2012.6386216","mag":"2026275902"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":null,"display_name":"Carlos Santacruz","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Carlos Santacruz","raw_affiliation_strings":["The Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","The Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["The Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","The Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Mechano-Informatics, The University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The Department of Mechano-Informatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2095","last_page":"2100"},"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":0.9912999868392944,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9639999866485596,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9452588558197021},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.9016700387001038},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6817859411239624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.635968804359436},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5958775281906128},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5479769706726074},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4998500347137451},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.45484718680381775},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4173913896083832},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3364756107330322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32704317569732666},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2012210488319397},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11838436126708984},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10938256978988647}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9452588558197021},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.9016700387001038},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6817859411239624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.635968804359436},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5958775281906128},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5479769706726074},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4998500347137451},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.45484718680381775},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4173913896083832},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3364756107330322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32704317569732666},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2012210488319397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11838436126708984},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10938256978988647},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386216","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386216","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1939926247","https://openalex.org/W1973942436","https://openalex.org/W1994275787","https://openalex.org/W2065326178","https://openalex.org/W2086853455","https://openalex.org/W2088677124","https://openalex.org/W2099129715","https://openalex.org/W2100656166","https://openalex.org/W2116310395","https://openalex.org/W2118840382","https://openalex.org/W2123477693","https://openalex.org/W2123719714","https://openalex.org/W2126729486","https://openalex.org/W2131249620","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2139816686","https://openalex.org/W2152182695","https://openalex.org/W2153190828","https://openalex.org/W2159541442","https://openalex.org/W2161427949","https://openalex.org/W2332842541","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2539977475","https://openalex.org/W2983916874","https://openalex.org/W3145941942"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2026275902","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W2101105382"],"abstract_inverted_index":{"In":[0,78],"this":[1],"paper":[2],"we":[3,40,84],"present":[4],"a":[5,12,36,42,93],"framework":[6],"for":[7,11],"generating":[8],"walking":[9],"motions":[10],"humanoid":[13,104],"robot":[14],"and":[15,98],"how":[16,86],"to":[17,21,65,71,87],"adapt":[18,66],"the":[19,25,28,32,49,55,58,67,73,79,89,102,107,110],"trajectory":[20,68],"handle":[22],"disturbances":[23],"during":[24],"execution":[26],"of":[27,35,54,81,109],"trajectory.":[29],"Based":[30],"on":[31,48],"simplified":[33],"dynamics":[34],"mass":[37],"concentrated":[38],"model,":[39],"generate":[41],"physically":[43],"consistent":[44],"motion":[45],"that":[46],"depends":[47],"current":[50],"CoM":[51],"state":[52],"space":[53],"robot.":[56],"If":[57],"disturbance":[59],"is":[60,63],"low,":[61],"it":[62],"possible":[64],"in":[69],"order":[70],"reach":[72],"desired":[74],"next":[75],"step":[76],"position.":[77],"case":[80],"strong":[82],"disturbances,":[83],"show":[85,106],"modify":[88],"final":[90],"goal":[91],"under":[92],"reactive":[94],"stepping":[95],"framework.":[96],"Simulations":[97],"hardware":[99],"experiments":[100],"with":[101],"full-size":[103],"HRP-4":[105],"validity":[108],"proposed":[111],"scheme.":[112]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
