{"id":"https://openalex.org/W2140699235","doi":"https://doi.org/10.1109/isic.2007.4450908","title":"Humanoid 3D Gait Generation Based on Inverted Pendulum Model","display_name":"Humanoid 3D Gait Generation Based on Inverted Pendulum Model","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2140699235","doi":"https://doi.org/10.1109/isic.2007.4450908","mag":"2140699235"},"language":"en","primary_location":{"id":"doi:10.1109/isic.2007.4450908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2007.4450908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE 22nd International Symposium on Intelligent Control","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/A5101802342","display_name":"Zhe Tang","orcid":"https://orcid.org/0000-0001-5418-785X"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Zhe Tang","raw_affiliation_strings":["Intelligent Systems Center, Nanyang Technological University, Singapore","Nanyang Technol Univ, Singapore#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technol Univ, Singapore#TAB#","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035486559","display_name":"Meng Joo Er","orcid":"https://orcid.org/0000-0003-4597-7088"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Meng Joo Er","raw_affiliation_strings":["Intelligent Systems Center, Nanyang Technological University, Singapore","Nanyang Technol Univ, Singapore#TAB#"],"affiliations":[{"raw_affiliation_string":"Intelligent Systems Center, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]},{"raw_affiliation_string":"Nanyang Technol Univ, Singapore#TAB#","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101802342"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.8279,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85365634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"339","last_page":"344"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9848999977111816,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9573000073432922,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.8719836473464966},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.81208735704422},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.8024958372116089},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7965021729469299},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7238006591796875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6006503105163574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.540712833404541},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5322627425193787},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5281137228012085},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5152676105499268},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5003986358642578},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4910256862640381},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4869014322757721},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.44907504320144653},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4087032973766327},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31746119260787964},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3153499960899353},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24461665749549866},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15339404344558716},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15193012356758118},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08782264590263367},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.0595344603061676}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8719836473464966},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.81208735704422},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.8024958372116089},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7965021729469299},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7238006591796875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6006503105163574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.540712833404541},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5322627425193787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5281137228012085},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5152676105499268},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5003986358642578},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4910256862640381},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4869014322757721},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.44907504320144653},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4087032973766327},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31746119260787964},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3153499960899353},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24461665749549866},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15339404344558716},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15193012356758118},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08782264590263367},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0595344603061676},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isic.2007.4450908","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isic.2007.4450908","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE 22nd International Symposium on Intelligent Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1485447451","https://openalex.org/W1937967612","https://openalex.org/W2002803749","https://openalex.org/W2070038508","https://openalex.org/W2072476139","https://openalex.org/W2104282725","https://openalex.org/W2107063340","https://openalex.org/W2117277755","https://openalex.org/W2146023641","https://openalex.org/W2151182239"],"related_works":["https://openalex.org/W1988603010","https://openalex.org/W4302290647","https://openalex.org/W2319797310","https://openalex.org/W2898815460","https://openalex.org/W2698593353","https://openalex.org/W2997045072","https://openalex.org/W2317940939","https://openalex.org/W2008326336","https://openalex.org/W2090855129","https://openalex.org/W3101555838"],"abstract_inverted_index":{"A":[0],"planning":[1,67,128],"method":[2],"for":[3,24,65],"humanoid":[4,25],"walking":[5,66,127],"is":[6,18,51,68],"proposed":[7,126],"in":[8,38],"this":[9,12],"paper.":[10],"In":[11],"method,":[13],"IPM":[14,40,50],"(inverted":[15],"pendulum":[16],"model)":[17],"used":[19,110],"as":[20],"a":[21,71],"dynamic":[22],"model":[23,61,73],"robots.":[26,58,115],"Whereby":[27],"ZMP":[28],"(zero":[29],"moment":[30],"point)":[31],"constraints":[32,96],"of":[33,46,49,57,62,78,80,101,124],"the":[34,39,43,54,63,83,99,113,122],"robot":[35,64,84],"are":[36,91,97,104,109,118],"analyzed":[37],"motion,":[41],"and":[42,87,93],"COG":[44,55,85],"(center":[45],"gravity)":[47],"motion":[48,56,86,90],"to":[52,111,120],"approximate":[53],"The":[59],"kinematic":[60,95],"based":[69],"on":[70],"typical":[72],"with":[74],"12":[75],"DOFs":[76,103],"(degree":[77],"freedom)":[79],"legs.":[81],"After":[82],"two":[88],"legs":[89],"generated,":[92],"3D":[94],"satisfied,":[98],"angles":[100],"every":[102],"obtained.":[105],"These":[106],"angular":[107],"trajectories":[108],"control":[112],"real":[114],"Simulation":[116],"experiments":[117],"conducted":[119],"verify":[121],"effectiveness":[123],"our":[125],"method.":[129]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
