{"id":"https://openalex.org/W2774990687","doi":"https://doi.org/10.1109/iros.2017.8206418","title":"Biped walking stabilization based on foot placement control using capture point feedback","display_name":"Biped walking stabilization based on foot placement control using capture point feedback","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774990687","doi":"https://doi.org/10.1109/iros.2017.8206418","mag":"2774990687"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5034805831","display_name":"Hyobin Jeong","orcid":"https://orcid.org/0000-0002-7989-0231"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyobin Jeong","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073251598","display_name":"Okkee Sim","orcid":"https://orcid.org/0000-0002-5002-2406"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Okkee Sim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056149445","display_name":"Hyoin Bae","orcid":"https://orcid.org/0000-0003-4050-2147"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyoin Bae","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109392664","display_name":"KangKyu Lee","orcid":"https://orcid.org/0000-0003-3139-1748"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"KangKyu Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062663514","display_name":"Jaesung Oh","orcid":"https://orcid.org/0000-0002-6137-5792"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaesung Oh","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Yuseong-gu, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Yuseong-gu, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Ho Oh","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Yuseong-gu, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Yuseong-gu, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034805831"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.4021,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.8063811,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9797999858856201,"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":0.9714000225067139,"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/zero-moment-point","display_name":"Zero moment point","score":0.8461886644363403},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8246221542358398},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6661880612373352},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.604299008846283},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5624170899391174},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5179254412651062},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5051053166389465},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.44578492641448975},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4298448860645294},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4069814383983612},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3584144711494446},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19174399971961975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16602063179016113},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.16596001386642456}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8461886644363403},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8246221542358398},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6661880612373352},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.604299008846283},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5624170899391174},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5179254412651062},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5051053166389465},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.44578492641448975},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4298448860645294},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4069814383983612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3584144711494446},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19174399971961975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16602063179016113},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.16596001386642456},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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.2017.8206418","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206418","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1964173271","https://openalex.org/W1987580649","https://openalex.org/W2036484113","https://openalex.org/W2042263030","https://openalex.org/W2044627378","https://openalex.org/W2072241589","https://openalex.org/W2099129715","https://openalex.org/W2115320056","https://openalex.org/W2117031920","https://openalex.org/W2123719714","https://openalex.org/W2126729486","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2139209654","https://openalex.org/W2143505417","https://openalex.org/W2150471469","https://openalex.org/W2152182695","https://openalex.org/W2228102949","https://openalex.org/W2529695652","https://openalex.org/W2539534359","https://openalex.org/W2544835031","https://openalex.org/W2563439850","https://openalex.org/W3145941942","https://openalex.org/W4249010688","https://openalex.org/W6729170210"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2133801610","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"In":[0],"this":[1,36,43],"paper":[2],"we":[3,45],"introduce":[4],"a":[5,48,61,68,92,155,175],"biped":[6,77],"foot":[7,63],"placement":[8],"controller":[9,21],"based":[10,153],"on":[11,154],"capture":[12,18,31],"point":[13,19,32,149],"(CP)":[14],"feedback":[15,20],"control.":[16],"This":[17],"generates":[22],"desired":[23,37],"Zero":[24],"Moment":[25],"Point":[26],"(ZMP)":[27],"according":[28],"to":[29],"current":[30],"error.":[33],"We":[34,88],"call":[35],"ZMP":[38],"as":[39,91],"Control-ZMP":[40],"(cZMP).":[41],"Using":[42],"cZMP,":[44],"constructed":[46],"(i)":[47,115,146],"disturbance":[49],"adapting":[50],"walking":[51,97],"pattern":[52,141],"generator,":[53,59],"(ii)":[54],"an":[55],"ankle":[56],"torque":[57],"reference":[58],"(iii)":[60,137],"landing":[62],"position":[64,132],"adjustor":[65],"and,":[66],"(iv)":[67,139],"step":[69],"time":[70,134],"adjustor.":[71],"By":[72],"applying":[73],"these":[74],"controllers,":[75],"the":[76,100,104,107,111,119,124,127,164,171],"system":[78],"becomes":[79],"robust":[80],"over":[81],"uneven":[82],"terrain":[83],"and":[84,116,133,138],"external":[85],"pushing":[86],"disturbances.":[87],"considered":[89],"cZMP":[90,101,112,120],"key":[93],"indicator":[94],"of":[95,123,163,177],"bipedal":[96],"stability.":[98],"If":[99,118],"is":[102,121,151,168],"within":[103],"support":[105,125],"polygon,":[106,126],"robot":[108,128],"will":[109,129,142],"track":[110],"by":[113,135,145],"using":[114,136],"(ii).":[117],"outside":[122],"change":[130],"footstep":[131],"(COM":[140],"be":[143],"changed":[144],"too).":[147],"Capture":[148],"dynamics":[150],"described":[152],"linear":[156],"inverted":[157],"pendulum":[158],"(LIP)":[159],"model.":[160],"The":[161],"performance":[162],"suggested":[165],"control":[166],"algorithm":[167],"validated":[169],"in":[170],"Choreonoid":[172],"simulator":[173],"with":[174],"model":[176],"DRC-HUBO+":[178],"[11],":[179],"[12].":[180]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}