{"id":"https://openalex.org/W2173568935","doi":"https://doi.org/10.1109/iros.2015.7353577","title":"Generalization of optimal motion trajectories for bipedal walking","display_name":"Generalization of optimal motion trajectories for bipedal walking","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2173568935","doi":"https://doi.org/10.1109/iros.2015.7353577","mag":"2173568935"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1292699","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102900829","display_name":"A. Werner","orcid":"https://orcid.org/0000-0003-0766-2245"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Werner","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035563453","display_name":"Dietrich Trautmann","orcid":"https://orcid.org/0000-0003-0858-6977"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dietrich Trautmann","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088081800","display_name":"Dongheui Lee","orcid":"https://orcid.org/0000-0003-1897-7664"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Dongheui Lee","raw_affiliation_strings":["Chair of Automatic Control Engineering Department of Electrical and Computer Engineering, Technische Universit\u00e4t M\u00fcnchen (TUM)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Automatic Control Engineering Department of Electrical and Computer Engineering, Technische Universit\u00e4t M\u00fcnchen (TUM)","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073209887","display_name":"Roberto Lampariello","orcid":"https://orcid.org/0000-0002-8479-2900"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Roberto Lampariello","raw_affiliation_strings":["German Aerospace Center (DLR), Institute of Robotics and Mechatronics"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"German Aerospace Center (DLR), Institute of Robotics and Mechatronics","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.3927,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.96218554,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"12","issue":null,"first_page":"1571","last_page":"1577"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.991599977016449,"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/torque","display_name":"Torque","score":0.6037440896034241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5937541723251343},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5806335210800171},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.5750098824501038},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5621588826179504},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5522149801254272},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5431514978408813},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5420262813568115},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5377156734466553},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5295722484588623},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5193701386451721},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4293992519378662},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.4209805727005005},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.41724711656570435},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3160269856452942},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31516367197036743},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.28659045696258545},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15593057870864868},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08039742708206177}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6037440896034241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5937541723251343},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5806335210800171},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.5750098824501038},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5621588826179504},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5522149801254272},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5431514978408813},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5420262813568115},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5377156734466553},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5295722484588623},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5193701386451721},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4293992519378662},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.4209805727005005},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.41724711656570435},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3160269856452942},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31516367197036743},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.28659045696258545},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15593057870864868},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08039742708206177},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2015.7353577","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353577","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:98699","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353577>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1292699","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1292699","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1292699","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1292699","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1503398984","https://openalex.org/W1554944419","https://openalex.org/W1746819321","https://openalex.org/W1964357740","https://openalex.org/W1997427641","https://openalex.org/W2002066318","https://openalex.org/W2024594469","https://openalex.org/W2027698027","https://openalex.org/W2046636826","https://openalex.org/W2088677124","https://openalex.org/W2095905067","https://openalex.org/W2101234009","https://openalex.org/W2115076892","https://openalex.org/W2122111042","https://openalex.org/W2123871098","https://openalex.org/W2161920802","https://openalex.org/W2983916874","https://openalex.org/W3215186461","https://openalex.org/W4211049957","https://openalex.org/W6629804754","https://openalex.org/W6650932616"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2389023277","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W2124672917","https://openalex.org/W4289821489","https://openalex.org/W4297820790","https://openalex.org/W2388211622","https://openalex.org/W1997131852"],"abstract_inverted_index":{"Control":[0],"of":[1,8,32,55,76],"robot":[2],"locomotion":[3],"profits":[4],"from":[5],"the":[6,45,53,74,77,93],"use":[7],"pre-planned":[9],"trajectories.":[10],"This":[11],"paper":[12,51],"presents":[13,52],"a":[14,79],"way":[15],"to":[16,39,68],"generalize":[17],"globally":[18],"optimal":[19,46,64],"and":[20,34,62,70],"dynamically":[21],"consistent":[22],"trajectories":[23,65],"for":[24,60],"cyclic":[25],"bipedal":[26],"walking.":[27],"A":[28],"small":[29],"task-space":[30],"consisting":[31],"stride-length":[33],"step":[35],"time":[36],"is":[37,82],"mapped":[38],"spline":[40],"parameters":[41],"which":[42],"fully":[43],"define":[44],"joint":[47],"space":[48],"motion.":[49],"The":[50],"impact":[54],"different":[56],"machine":[57],"learning":[58],"algorithms":[59],"velocity":[61],"torque":[63],"with":[66],"respect":[67],"optimality":[69],"feasibility.":[71],"To":[72],"demonstrate":[73],"usefulness":[75],"trajectories,":[78],"control":[80],"approach":[81],"presented":[83],"that":[84],"allows":[85],"general":[86],"walking":[87],"including":[88],"transitions":[89],"between":[90],"points":[91],"in":[92],"task-space.":[94]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
