{"id":"https://openalex.org/W1971667722","doi":"https://doi.org/10.1109/isr.2013.6695714","title":"Walking analyses of a humanoid by visual-lifting approach","display_name":"Walking analyses of a humanoid by visual-lifting approach","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W1971667722","doi":"https://doi.org/10.1109/isr.2013.6695714","mag":"1971667722"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5039911702","display_name":"Gyetak Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Gyetak Lee","raw_affiliation_strings":["Okayarna University, Japan","Okayama University,Okayama,Japan"],"affiliations":[{"raw_affiliation_string":"Okayarna University, Japan","institution_ids":[]},{"raw_affiliation_string":"Okayama University,Okayama,Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073454546","display_name":"Mamoru Minami","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Minami","raw_affiliation_strings":["Okayama University, Japan","Okayama University,Okayama,Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University,Okayama,Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005631553","display_name":"Akira Yanou","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Yanou","raw_affiliation_strings":["Okayama University, Japan","Okayama University,Okayama,Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University,Okayama,Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073066693","display_name":"Yosuke Kobayashi","orcid":"https://orcid.org/0000-0003-3959-4347"},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yosuke Kobayashi","raw_affiliation_strings":["Okayama University, Japan","Okayama University,Okayama,Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University,Okayama,Japan","institution_ids":["https://openalex.org/I163770644"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072084989","display_name":"Jumpei Nishiguchi","orcid":null},"institutions":[{"id":"https://openalex.org/I163770644","display_name":"Okayama University","ror":"https://ror.org/02pc6pc55","country_code":"JP","type":"education","lineage":["https://openalex.org/I163770644"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jumpei Nishiguchi","raw_affiliation_strings":["Okayama University, Japan","Okayama University,Okayama,Japan"],"affiliations":[{"raw_affiliation_string":"Okayama University, Japan","institution_ids":["https://openalex.org/I163770644"]},{"raw_affiliation_string":"Okayama University,Okayama,Japan","institution_ids":["https://openalex.org/I163770644"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5039911702"],"corresponding_institution_ids":["https://openalex.org/I163770644"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.05591506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"307","issue":null,"first_page":"1","last_page":"6"},"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":0.9958000183105469,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9592000246047974,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6504455804824829},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6455284953117371},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6277718544006348},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5957621932029724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5290431380271912},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.44401803612709045},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44314101338386536},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.43120497465133667},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4165685772895813},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3989889919757843},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34380847215652466},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2689322233200073},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08888253569602966}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6504455804824829},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6455284953117371},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6277718544006348},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5957621932029724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5290431380271912},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.44401803612709045},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44314101338386536},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.43120497465133667},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4165685772895813},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3989889919757843},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34380847215652466},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2689322233200073},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08888253569602966},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C118552586","wikidata":"https://www.wikidata.org/wiki/Q7867","display_name":"Psychiatry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isr.2013.6695714","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695714","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W182780410","https://openalex.org/W1649207928","https://openalex.org/W1966552874","https://openalex.org/W1967377907","https://openalex.org/W1976188918","https://openalex.org/W1978527338","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W1997384522","https://openalex.org/W2004609114","https://openalex.org/W2017303463","https://openalex.org/W2029058516","https://openalex.org/W2035273581","https://openalex.org/W2036484113","https://openalex.org/W2045543078","https://openalex.org/W2055378757","https://openalex.org/W2086853455","https://openalex.org/W2094827686","https://openalex.org/W2128131727","https://openalex.org/W2129754669","https://openalex.org/W2138136244","https://openalex.org/W2145944877","https://openalex.org/W2147285788","https://openalex.org/W2149606028","https://openalex.org/W2151182239","https://openalex.org/W2165524167","https://openalex.org/W2514914091","https://openalex.org/W6607371858","https://openalex.org/W6636935083","https://openalex.org/W6644603961","https://openalex.org/W6644937633","https://openalex.org/W6654844661","https://openalex.org/W6681571939"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2368185326"],"abstract_inverted_index":{"Biped":[0],"locomotion":[1],"created":[2],"by":[3],"a":[4,104],"controller":[5],"based":[6,50],"on":[7,19,39,51,103],"ZMP":[8,40,79],"known":[9],"as":[10],"reliable":[11],"control":[12,34],"method":[13],"looks":[14],"different":[15],"from":[16,62],"human's":[17],"walking":[18,25,33,48,76,112],"the":[20,32,60,107],"view":[21],"point":[22],"that":[23,35,68,106],"ZMP-based":[24],"does":[26,36],"not":[27,37,81],"include":[28],"tipping-over":[29],"state.":[30],"However,":[31],"depend":[38],"is":[41,80],"vulnerable":[42],"to":[43,54],"turnover.":[44],"Therefore,":[45],"we":[46,92],"propose":[47],"stabilizer":[49,70],"visual":[52],"feedback":[53],"enhance":[55],"standing":[56],"robustness":[57],"and":[58,74],"prevent":[59],"robot":[61],"falling":[63],"down.":[64],"Simulation":[65],"results":[66],"indicate":[67],"this":[69,90],"helps":[71,110],"stabilize":[72],"pose":[73],"bipedal":[75],"even":[77],"though":[78],"kept":[82],"inside":[83],"convex":[84],"hull":[85],"of":[86],"supporting":[87],"area.":[88],"In":[89],"report,":[91],"discuss":[93],"proposed":[94],"visual-lifting":[95],"approach":[96],"in":[97],"conjunction":[98],"wish":[99],"arms'":[100,108],"swinging":[101],"motion":[102,109],"viewpoint":[105],"improve":[111],"efficiency.":[113]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
