{"id":"https://openalex.org/W2074071580","doi":"https://doi.org/10.1109/robio.2014.7090511","title":"Stability control for biped walking based on phase modification during double support period","display_name":"Stability control for biped walking based on phase modification during double support period","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2074071580","doi":"https://doi.org/10.1109/robio.2014.7090511","mag":"2074071580"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5100606449","display_name":"Tongtong Li","orcid":"https://orcid.org/0000-0002-0517-2886"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tongtong Li","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100359192","display_name":"Juan Chen","orcid":"https://orcid.org/0000-0001-7515-5072"},"institutions":[{"id":"https://openalex.org/I4210100278","display_name":"Beijing Satellite Navigation Center","ror":"https://ror.org/0188rvx33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100278"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juan Chen","raw_affiliation_strings":["North Navigation Control Technology Co. Ltd., China","North Navigation Control Technology, Co., Ltd., China"],"affiliations":[{"raw_affiliation_string":"North Navigation Control Technology Co. Ltd., China","institution_ids":["https://openalex.org/I4210100278"]},{"raw_affiliation_string":"North Navigation Control Technology, Co., Ltd., China","institution_ids":["https://openalex.org/I4210100278"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100350985","display_name":"Yan Liu","orcid":"https://orcid.org/0000-0001-5616-9428"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Liu","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080894667","display_name":"Maoxing Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Maoxing Zheng","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381186","display_name":"Libo Meng","orcid":"https://orcid.org/0000-0001-9980-3054"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Meng","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111847058","display_name":"Gan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gan Ma","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100444365","display_name":"Wen Zhang","orcid":"https://orcid.org/0000-0001-9400-9740"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Zhang","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022008994","display_name":"Wei-Min Zhang","orcid":"https://orcid.org/0000-0003-2117-3608"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, The Key Laboratory of Intelligent Control and Decision of Complex System, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Intelligent Robotics Institute  School of Mechatronical Engineering  Beijing Institute of Technology  Beijing 100081  China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5100606449"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.11757918,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1290","last_page":"1295"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9836000204086304,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9787999987602234,"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/zero-moment-point","display_name":"Zero moment point","score":0.9413161873817444},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.7660426497459412},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7229850888252258},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6267829537391663},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6061820387840271},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.5827690958976746},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5639460682868958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5355544090270996},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5149058103561401},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.4626840651035309},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45559006929397583},{"id":"https://openalex.org/keywords/longitudinal-static-stability","display_name":"Longitudinal static stability","score":0.43047675490379333},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.42274409532546997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34747809171676636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3249782919883728},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23125988245010376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1754761040210724},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1152547299861908},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.09753963351249695}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.9413161873817444},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.7660426497459412},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7229850888252258},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6267829537391663},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6061820387840271},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.5827690958976746},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5639460682868958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5355544090270996},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5149058103561401},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.4626840651035309},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45559006929397583},{"id":"https://openalex.org/C102500504","wikidata":"https://www.wikidata.org/wiki/Q6674017","display_name":"Longitudinal static stability","level":3,"score":0.43047675490379333},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.42274409532546997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34747809171676636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3249782919883728},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23125988245010376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1754761040210724},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1152547299861908},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.09753963351249695},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090511","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090511","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.47999998927116394,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1965536751","https://openalex.org/W1967742352","https://openalex.org/W1978368350","https://openalex.org/W1979453107","https://openalex.org/W2036892060","https://openalex.org/W2038389843","https://openalex.org/W2048591195","https://openalex.org/W2049809359","https://openalex.org/W2055849770","https://openalex.org/W2100481084","https://openalex.org/W2102568724","https://openalex.org/W2107063340","https://openalex.org/W2108729202","https://openalex.org/W2125193285","https://openalex.org/W2125356896","https://openalex.org/W2128946945","https://openalex.org/W2138316469","https://openalex.org/W2138671676","https://openalex.org/W2149244757","https://openalex.org/W2161556708","https://openalex.org/W2165350174","https://openalex.org/W2399215041","https://openalex.org/W6678669206"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W1988603010","https://openalex.org/W2130383927","https://openalex.org/W2047733616","https://openalex.org/W2317940939","https://openalex.org/W2008326336","https://openalex.org/W2090855129","https://openalex.org/W3101555838"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,16],"control":[4],"strategy":[5],"based":[6],"on":[7],"phase":[8,42],"modification":[9,43],"during":[10],"double":[11],"support":[12],"period":[13],"to":[14,47],"enhance":[15],"humanoid":[17],"robot's":[18],"walking":[19],"stability.":[20],"When":[21],"the":[22,25,29,38,41,48,53,56,65,76,79],"foot":[23],"of":[24,50,58,60,71,78],"swing":[26],"leg":[27],"touches":[28],"ground,":[30],"if":[31],"Zero":[32],"Moment":[33],"Point(ZMP)":[34],"is":[35,81],"not":[36],"in":[37],"stable":[39],"margin,":[40],"will":[44],"start.":[45],"According":[46],"position":[49],"ZMP":[51,63],"and":[52,62,75],"relationship":[54],"between":[55],"motion":[57],"Center":[59],"Gravity(COG)":[61],"position,":[64],"related":[66],"parameters":[67],"are":[68,73],"solved.":[69],"Series":[70],"experiments":[72],"taken,":[74],"effectiveness":[77],"method":[80],"validated":[82],"repeatedly.":[83]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
