{"id":"https://openalex.org/W2098510234","doi":"https://doi.org/10.1109/robio.2010.5723362","title":"A novel modifiable walking pattern generator on an inclined plane in pitch and roll directions for humanoid robots","display_name":"A novel modifiable walking pattern generator on an inclined plane in pitch and roll directions for humanoid robots","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2098510234","doi":"https://doi.org/10.1109/robio.2010.5723362","mag":"2098510234"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723362","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/A5028287013","display_name":"Young-Dae Hong","orcid":"https://orcid.org/0000-0002-6174-6442"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young-Dae Hong","raw_affiliation_strings":["Department of Electrical Engineering, KAIST, Daejeon, South Korea","Department of Electrical Engineering, KAIST, 335 Gwahak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Electrical Engineering, KAIST, 335 Gwahak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100718523","display_name":"Jong-Hwan Kim","orcid":"https://orcid.org/0000-0002-4172-4174"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Hwan Kim","raw_affiliation_strings":["Department of Electrical Engineering, KAIST, Daejeon, South Korea","Department of Electrical Engineering, KAIST, 335 Gwahak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Electrical Engineering, KAIST, 335 Gwahak-ro, Yuseong-gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16256185,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"411","last_page":"416"},"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":0.9509000182151794,"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/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9290000200271606,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8190175294876099},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.8059964179992676},{"id":"https://openalex.org/keywords/inclined-plane","display_name":"Inclined plane","score":0.7699505090713501},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.7513619661331177},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.739007294178009},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301554799079895},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.5163768529891968},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5011255741119385},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4906212389469147},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4708019495010376},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.4509793817996979},{"id":"https://openalex.org/keywords/coronal-plane","display_name":"Coronal plane","score":0.4429513216018677},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.44267791509628296},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3989430367946625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2894415259361267},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.22000741958618164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21112918853759766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2093122899532318},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20546862483024597},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17901504039764404},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15881264209747314},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13779914379119873},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1352020800113678},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.07415935397148132}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8190175294876099},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.8059964179992676},{"id":"https://openalex.org/C111808769","wikidata":"https://www.wikidata.org/wiki/Q161462","display_name":"Inclined plane","level":2,"score":0.7699505090713501},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.7513619661331177},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.739007294178009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301554799079895},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.5163768529891968},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5011255741119385},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4906212389469147},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4708019495010376},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.4509793817996979},{"id":"https://openalex.org/C13483470","wikidata":"https://www.wikidata.org/wiki/Q1470152","display_name":"Coronal plane","level":2,"score":0.4429513216018677},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.44267791509628296},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3989430367946625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2894415259361267},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.22000741958618164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21112918853759766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2093122899532318},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20546862483024597},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17901504039764404},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15881264209747314},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13779914379119873},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1352020800113678},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.07415935397148132},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723362","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723362","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":[{"id":"https://openalex.org/F4320324161","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1967452515","https://openalex.org/W1973916798","https://openalex.org/W1990981983","https://openalex.org/W2014824949","https://openalex.org/W2017970073","https://openalex.org/W2020630597","https://openalex.org/W2033226680","https://openalex.org/W2038588532","https://openalex.org/W2052322585","https://openalex.org/W2078594777","https://openalex.org/W2102240748","https://openalex.org/W2119134111","https://openalex.org/W2120420464","https://openalex.org/W2128967980","https://openalex.org/W2133833137","https://openalex.org/W2133859362","https://openalex.org/W2137685044","https://openalex.org/W2138671676","https://openalex.org/W2142132924","https://openalex.org/W2147244792","https://openalex.org/W2150714400","https://openalex.org/W2153828012","https://openalex.org/W2165755010","https://openalex.org/W2542370644","https://openalex.org/W4246760750","https://openalex.org/W6678106486","https://openalex.org/W6680050846"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W2593698653","https://openalex.org/W4251901845","https://openalex.org/W4232472786","https://openalex.org/W2375654303","https://openalex.org/W2004082671","https://openalex.org/W2632641154","https://openalex.org/W2142132924","https://openalex.org/W2651176679","https://openalex.org/W2150152616"],"abstract_inverted_index":{"In":[0,63],"previous":[1],"researches":[2],"on":[3,5,53,83,99,127],"walking":[4,30,52,72,82,124,141],"an":[6,84],"inclined":[7,55,85,101,129],"plane":[8,56,86,102,130],"of":[9,46,96,140,163],"humanoid":[10,22,76,166],"robots":[11,23,77],"including":[12],"the":[13,21,44,51,54,97,100,113,117,128,164],"3D":[14],"linear":[15],"inverted":[16],"pendulum":[17],"model":[18,162],"(3D-LIPM)":[19],"approach,":[20],"were":[24],"not":[25],"able":[26],"to":[27,65,111,133],"independently":[28],"modify":[29],"period":[31,142],"and":[32,34,90,106,143,145],"sagittal":[33,144],"lateral":[35,146],"step":[36,41,147],"lengths":[37],"without":[38],"any":[39],"additional":[40],"for":[42,75,80,122],"adjusting":[43],"center":[45],"mass":[47],"(CM)":[48],"motion.":[49,115],"Moreover,":[50],"in":[57,87,103],"pitch":[58,89,105],"direction":[59],"was":[60],"only":[61],"considered.":[62],"order":[64],"overcome":[66],"these":[67],"problems,":[68],"a":[69,120,135,160],"novel":[70],"modifiable":[71,81,123],"pattern":[73,125],"generator":[74],"is":[78,109,131,152],"proposed":[79,150],"both":[88,104],"roll":[91,107],"directions.":[92],"The":[93,149],"dynamic":[94],"equation":[95],"3DLIPM":[98],"directions":[108],"derived":[110],"obtain":[112],"CM":[114,118],"Using":[116],"motion,":[119],"method":[121],"generation":[126],"developed":[132],"follow":[134],"navigational":[136],"command":[137],"set":[138],"composed":[139],"lengths.":[148],"algorithm":[151],"verified":[153],"through":[154],"computer":[155],"simulations":[156],"carried":[157],"out":[158],"with":[159],"simulation":[161],"small-sized":[165],"robot,":[167],"HanSaRam-IX":[168],"(HSR-IX).":[169]},"counts_by_year":[],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}