{"id":"https://openalex.org/W2154846303","doi":"https://doi.org/10.1109/robio.2010.5723329","title":"Online immediate foot placement modification for humanoid robots by synthesis method","display_name":"Online immediate foot placement modification for humanoid robots by synthesis method","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2154846303","doi":"https://doi.org/10.1109/robio.2010.5723329","mag":"2154846303"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5036384283","display_name":"Teng-Hu Cheng","orcid":"https://orcid.org/0000-0002-1451-3937"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Teng-Hu Cheng","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055365456","display_name":"Han\u2010Pang Huang","orcid":"https://orcid.org/0000-0003-4910-8031"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Han-Pang Huang","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102156558","display_name":"Jiu-Lou Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jiu-Lou Yan","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5036384283"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1773275,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"212","last_page":"217"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9861000180244446,"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":0.9847000241279602,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9218588471412659},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.836413562297821},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7701261043548584},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.680884838104248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6685014367103577},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5938243865966797},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.5245347619056702},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.4380953311920166},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42668014764785767},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42516955733299255},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3768031597137451},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24411410093307495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2325793206691742},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0808541476726532}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9218588471412659},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.836413562297821},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7701261043548584},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.680884838104248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6685014367103577},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5938243865966797},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.5245347619056702},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.4380953311920166},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42668014764785767},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42516955733299255},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3768031597137451},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24411410093307495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2325793206691742},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0808541476726532},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723329","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723329","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1917860510","https://openalex.org/W1965124047","https://openalex.org/W2074956264","https://openalex.org/W2125356896","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2156423353","https://openalex.org/W2164681577","https://openalex.org/W2540018960","https://openalex.org/W2732939747","https://openalex.org/W6682891607"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2047733616","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W4236591128","https://openalex.org/W2034988786","https://openalex.org/W2137300190"],"abstract_inverted_index":{"The":[0,118],"mobility":[1,119],"of":[2,16,29,48,66,103,120],"humanoid":[3,17,121],"robots":[4],"are":[5,20],"restrained":[6],"by":[7,23,69,126],"many":[8],"natural":[9],"constraints.":[10],"Due":[11],"to":[12,33,54,113],"the":[13,46,50,56,63,86,90,101],"unstable":[14],"property":[15],"robots,":[18],"they":[19],"usually":[21],"controlled":[22],"a":[24,34,73],"preplanning":[25,57],"stable":[26,80],"COG":[27],"(center":[28],"gravity)":[30],"trajectory":[31],"subject":[32],"properly":[35],"designed":[36],"ZMP":[37],"(zero":[38],"moment":[39],"point)":[40],"using":[41],"inverted":[42],"pendulum":[43],"model.":[44],"Despite":[45],"advantage":[47],"stability,":[49],"method":[51,129],"becomes":[52],"tricky":[53],"modify":[55,89],"footsteps":[58],"randomly.":[59],"Therefore,":[60],"we":[61],"propose":[62],"immediate":[64],"modification":[65],"foot":[67],"placement":[68],"synthesis,":[70],"which":[71],"ensures":[72],"low":[74],"computational":[75],"cost,":[76],"smooth":[77],"synthesized":[78],"and":[79,133],"trajectory.":[81],"With":[82],"our":[83,127],"proposed":[84,128],"method,":[85],"robot":[87,122],"can":[88],"next":[91],"footstep":[92],"location":[93],"or":[94],"immediately":[95],"stop":[96],"immediately,":[97],"even":[98],"just":[99],"before":[100],"end":[102],"previous":[104],"step;":[105],"otherwise,":[106],"it":[107],"might":[108],"need":[109],"two":[110],"steps":[111],"ahead":[112],"prepare":[114],"for":[115],"this":[116],"change.":[117],"is":[123],"therefore":[124],"enhanced":[125],"in":[130],"both":[131],"sagittal":[132],"lateral":[134],"directions.":[135]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
