{"id":"https://openalex.org/W2157119283","doi":"https://doi.org/10.1109/robio.2009.4912998","title":"Generation of optimal trajectory for biped robots with knees stretched","display_name":"Generation of optimal trajectory for biped robots with knees stretched","publication_year":2009,"publication_date":"2009-02-01","ids":{"openalex":"https://openalex.org/W2157119283","doi":"https://doi.org/10.1109/robio.2009.4912998","mag":"2157119283"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.4912998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4912998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","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/A5103029432","display_name":"Jong Hyeon Park","orcid":"https://orcid.org/0000-0001-6263-375X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jong Hyeon Park","raw_affiliation_strings":["School of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110314168","display_name":"Sulhee Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sulhee Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103029432"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.2223,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61989116,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"166","last_page":"171"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9969000220298767,"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":0.994700014591217,"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/trajectory","display_name":"Trajectory","score":0.8272418975830078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7137559056282043},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5612406134605408},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41419869661331177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22513383626937866},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16258856654167175},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0991133451461792}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8272418975830078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7137559056282043},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5612406134605408},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41419869661331177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22513383626937866},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16258856654167175},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0991133451461792},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.4912998","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.4912998","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1994404295","https://openalex.org/W2061578829","https://openalex.org/W2136165287","https://openalex.org/W2157219709"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4323768008","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"In":[0,67,132],"previous":[1],"researches,":[2],"most":[3],"of":[4,30,61,87],"biped":[5,38],"robots":[6],"have":[7],"walked":[8],"with":[9,95],"their":[10],"knees":[11,53],"bent.":[12],"However,":[13],"a":[14,44,58,96,108],"human":[15,35],"walks":[16],"without":[17,51],"bending":[18,52,152],"his":[19],"or":[20],"her":[21],"knees,":[22],"which":[23,149],"defines":[24],"\u201cnatural\u201d":[25],"gaits.":[26],"This":[27,41,89],"is":[28,91,102,125],"one":[29],"the":[31,85,112,134,142,146,153],"significant":[32],"differences":[33],"between":[34],"locomotion":[36,49,109],"and":[37,81,93,130],"robot":[39,114],"locomotion.":[40],"paper":[42,74],"proposes":[43,75],"method":[45],"to":[46,69,106,115],"generate":[47,107],"natural":[48],"trajectory":[50,77,90,110,136,143],"but":[54],"based":[55],"on":[56],"using":[57],"2-DOF":[59],"model":[60],"linear":[62],"inverted":[63],"pendulum":[64],"mode":[65],"(LIPM).":[66],"addition":[68],"upper":[70],"body":[71],"motion,":[72],"this":[73],"foot":[76,86],"that":[78],"allows":[79],"heel-lifting":[80],"toe-lowering":[82],"phases":[83],"like":[84],"human.":[88],"parameterized":[92],"optimized":[94],"genetic":[97,100],"algorithm.":[98],"A":[99],"algorithm":[101],"used":[103,126],"in":[104,151],"order":[105],"for":[111,127],"proposed":[113],"minimize":[116],"energy":[117,140],"consumption.":[118],"The":[119],"Real":[120],"Coded":[121],"Genetic":[122],"Algorithms":[123],"(RCGA)":[124],"fast":[128],"convergence":[129],"accuracy.":[131],"simulation,":[133],"resulting":[135],"spends":[137],"20%":[138],"less":[139],"than":[141],"generated":[144],"by":[145],"LIPM":[147],"method,":[148],"results":[150],"knees.":[154]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}