{"id":"https://openalex.org/W3046396793","doi":"https://doi.org/10.1109/isie45063.2020.9152262","title":"Precise Optimization of Robotic Bipedal Walking Using Hamiltonian Dynamics","display_name":"Precise Optimization of Robotic Bipedal Walking Using Hamiltonian Dynamics","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3046396793","doi":"https://doi.org/10.1109/isie45063.2020.9152262","mag":"3046396793"},"language":"en","primary_location":{"id":"doi:10.1109/isie45063.2020.9152262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45063.2020.9152262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)","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":"https://openalex.org/A5062774058","display_name":"Rodrigo Matos Carnier","orcid":"https://orcid.org/0000-0002-0843-3033"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rodrigo Matos Carnier","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026753908","display_name":"Yasutaka Fujimoto","orcid":"https://orcid.org/0000-0002-8106-5425"},"institutions":[{"id":"https://openalex.org/I180203408","display_name":"Yokohama National University","ror":"https://ror.org/03zyp6p76","country_code":"JP","type":"education","lineage":["https://openalex.org/I180203408"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutaka Fujimoto","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Yokohama National University, Yokohama, Japan","institution_ids":["https://openalex.org/I180203408"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I180203408"],"apc_list":null,"apc_paid":null,"fwci":0.451,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.53967289,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"295","issue":null,"first_page":"567","last_page":"572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9882000088691711,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.984499990940094,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/hamiltonian","display_name":"Hamiltonian (control theory)","score":0.732414722442627},{"id":"https://openalex.org/keywords/hamiltonian-mechanics","display_name":"Hamiltonian mechanics","score":0.7009350061416626},{"id":"https://openalex.org/keywords/lagrangian-mechanics","display_name":"Lagrangian mechanics","score":0.6709677577018738},{"id":"https://openalex.org/keywords/analytical-dynamics","display_name":"Analytical dynamics","score":0.5562731623649597},{"id":"https://openalex.org/keywords/hamiltonian-optics","display_name":"Hamiltonian optics","score":0.5342036485671997},{"id":"https://openalex.org/keywords/equations-of-motion","display_name":"Equations of motion","score":0.5133125185966492},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.4962034821510315},{"id":"https://openalex.org/keywords/hamiltonian-system","display_name":"Hamiltonian system","score":0.49316662549972534},{"id":"https://openalex.org/keywords/conservation-law","display_name":"Conservation law","score":0.49064698815345764},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4535440504550934},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.44700363278388977},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4407917559146881},{"id":"https://openalex.org/keywords/conservation-of-energy","display_name":"Conservation of energy","score":0.43968603014945984},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.4339144825935364},{"id":"https://openalex.org/keywords/covariant-hamiltonian-field-theory","display_name":"Covariant Hamiltonian field theory","score":0.4006412625312805},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3925553560256958},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.37979501485824585},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3203543722629547},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.29478228092193604},{"id":"https://openalex.org/keywords/quantum","display_name":"Quantum","score":0.2819196581840515},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22428584098815918},{"id":"https://openalex.org/keywords/superintegrable-hamiltonian-system","display_name":"Superintegrable Hamiltonian system","score":0.20870041847229004},{"id":"https://openalex.org/keywords/quantum-dynamics","display_name":"Quantum dynamics","score":0.18084195256233215},{"id":"https://openalex.org/keywords/phase-space","display_name":"Phase space","score":0.15821397304534912},{"id":"https://openalex.org/keywords/quantum-mechanics","display_name":"Quantum mechanics","score":0.14115163683891296}],"concepts":[{"id":"https://openalex.org/C130787639","wikidata":"https://www.wikidata.org/wiki/Q5645293","display_name":"Hamiltonian (control theory)","level":2,"score":0.732414722442627},{"id":"https://openalex.org/C136864674","wikidata":"https://www.wikidata.org/wiki/Q477921","display_name":"Hamiltonian mechanics","level":3,"score":0.7009350061416626},{"id":"https://openalex.org/C499771625","wikidata":"https://www.wikidata.org/wiki/Q324669","display_name":"Lagrangian mechanics","level":5,"score":0.6709677577018738},{"id":"https://openalex.org/C140279962","wikidata":"https://www.wikidata.org/wiki/Q16002931","display_name":"Analytical dynamics","level":5,"score":0.5562731623649597},{"id":"https://openalex.org/C157434478","wikidata":"https://www.wikidata.org/wiki/Q5645298","display_name":"Hamiltonian optics","level":5,"score":0.5342036485671997},{"id":"https://openalex.org/C14037181","wikidata":"https://www.wikidata.org/wiki/Q215007","display_name":"Equations of motion","level":2,"score":0.5133125185966492},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.4962034821510315},{"id":"https://openalex.org/C121770821","wikidata":"https://www.wikidata.org/wiki/Q2072471","display_name":"Hamiltonian system","level":2,"score":0.49316662549972534},{"id":"https://openalex.org/C3445786","wikidata":"https://www.wikidata.org/wiki/Q205805","display_name":"Conservation law","level":2,"score":0.49064698815345764},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4535440504550934},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.44700363278388977},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4407917559146881},{"id":"https://openalex.org/C52957995","wikidata":"https://www.wikidata.org/wiki/Q11382","display_name":"Conservation of energy","level":2,"score":0.43968603014945984},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.4339144825935364},{"id":"https://openalex.org/C109798219","wikidata":"https://www.wikidata.org/wiki/Q25304038","display_name":"Covariant Hamiltonian field theory","level":3,"score":0.4006412625312805},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3925553560256958},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.37979501485824585},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3203543722629547},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.29478228092193604},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.2819196581840515},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22428584098815918},{"id":"https://openalex.org/C177715462","wikidata":"https://www.wikidata.org/wiki/Q7643453","display_name":"Superintegrable Hamiltonian system","level":4,"score":0.20870041847229004},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.18084195256233215},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.15821397304534912},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.14115163683891296}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie45063.2020.9152262","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie45063.2020.9152262","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 29th International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W158493336","https://openalex.org/W176183034","https://openalex.org/W1526681407","https://openalex.org/W1559393815","https://openalex.org/W1574514837","https://openalex.org/W1973700210","https://openalex.org/W1995199698","https://openalex.org/W2037729465","https://openalex.org/W2092924364","https://openalex.org/W2111034649","https://openalex.org/W2120229085","https://openalex.org/W2187565700","https://openalex.org/W2582284816","https://openalex.org/W2772957955","https://openalex.org/W2779285311","https://openalex.org/W2888464273","https://openalex.org/W3099219878"],"related_works":["https://openalex.org/W3013347551","https://openalex.org/W1553596068","https://openalex.org/W4253951430","https://openalex.org/W2070655983","https://openalex.org/W4250737172","https://openalex.org/W4214906288","https://openalex.org/W2015882123","https://openalex.org/W2496185671","https://openalex.org/W583280728","https://openalex.org/W1487433996"],"abstract_inverted_index":{"The":[0],"two":[1,90],"most":[2],"common":[3],"formulations":[4,93],"of":[5,7,48,114,120,138,148,153,162,164,175,177],"equation":[6],"motion":[8],"for":[9,167,180],"mechanical":[10],"systems":[11],"are":[12,97],"derived":[13,31],"by":[14],"1)":[15],"vector":[16],"analysis":[17,24],"from":[18,25,32],"Newton's":[19],"Laws,":[20],"and":[21,42,104,171],"2)":[22],"energy":[23],"Euler-Lagrange":[26],"equations.":[27],"A":[28],"third":[29],"alternative,":[30],"Hamilton's":[33,79],"equations,":[34],"is":[35,50,60,71,84],"only":[36],"well":[37],"known":[38],"in":[39,73,78,95,117,146],"quantum":[40],"mechanics":[41,103],"niche":[43],"fields,":[44],"specially":[45],"if":[46],"conservation":[47],"momentum":[49],"a":[51,57,85,125,143],"central":[52],"phenomenon.":[53],"In":[54,107],"Optimal":[55],"Control,":[56],"core":[58],"theorem":[59],"Pontryagin's":[61],"Principle,":[62],"whose":[63],"main":[64],"term":[65],"-":[66,70,124,129],"the":[67,74,89,112,118,136,151,160,173],"control":[68],"Hamiltonian":[69,76,115,139,165],"inspired":[72],"original":[75],"present":[77,111],"Equations.":[80],"Even":[81],"though":[82],"there":[83],"clear":[86],"parallel":[87],"between":[88],"hamiltonians,":[91],"dynamic":[92],"used":[94],"optimization":[96,119],"still":[98],"largely":[99],"based":[100],"on":[101],"Lagrangian":[102,178],"Classical":[105],"mechanics.":[106],"this":[108],"paper":[109],"we":[110,141],"competitiveness":[113],"dynamics":[116,166,179],"robotic":[121],"bipedal":[122],"walking":[123],"complex":[126],"nonlinear":[127],"system":[128],"using":[130],"its":[131],"exact":[132],"whole-body":[133],"dynamics.":[134],"With":[135],"use":[137,163,176],"dynamics,":[140],"observed":[142],"significant":[144],"increase":[145],"precision":[147],"optimization,":[149],"with":[150],"trade-off":[152],"bigger":[154],"computational":[155],"time.":[156],"Our":[157],"results":[158],"demonstrate":[159],"advantage":[161],"precise":[168],"offline":[169],"optimizations,":[170],"suggest":[172],"maintenance":[174],"fast":[181],"online":[182],"optimizations.":[183]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}