{"id":"https://openalex.org/W2591730637","doi":"https://doi.org/10.1109/robio.2016.7866566","title":"Foot Placement Estimator for stepping down movement","display_name":"Foot Placement Estimator for stepping down movement","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2591730637","doi":"https://doi.org/10.1109/robio.2016.7866566","mag":"2591730637"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5084984136","display_name":"Yeoun-Jae Kim","orcid":"https://orcid.org/0000-0002-5872-3901"},"institutions":[{"id":"https://openalex.org/I4210120052","display_name":"National Cancer Center","ror":"https://ror.org/02tsanh21","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I1290491151","https://openalex.org/I2801339556","https://openalex.org/I4210120052"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeoun-Jae Kim","raw_affiliation_strings":["Biomedical Engineering Division, National Cancer Center in Korea, Goyang Si KyongGi Do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Division, National Cancer Center in Korea, Goyang Si KyongGi Do, Korea","institution_ids":["https://openalex.org/I4210120052"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073765158","display_name":"Kwang Gi Kim","orcid":"https://orcid.org/0000-0001-9714-6038"},"institutions":[{"id":"https://openalex.org/I4210120052","display_name":"National Cancer Center","ror":"https://ror.org/02tsanh21","country_code":"KR","type":"healthcare","lineage":["https://openalex.org/I1290491151","https://openalex.org/I2801339556","https://openalex.org/I4210120052"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kwang-Gi Kim","raw_affiliation_strings":["Biomedical Engineering Division, National Cancer Center in Korea, Goyang Si KyongGi Do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomedical Engineering Division, National Cancer Center in Korea, Goyang Si KyongGi Do, Korea","institution_ids":["https://openalex.org/I4210120052"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16702876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"1662","last_page":"1666"},"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":0.9854999780654907,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9398999810218811,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7368398308753967},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.7091845870018005},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.6984285116195679},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6001533269882202},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5618436336517334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48020610213279724},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4701034426689148},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.4434283673763275},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39606088399887085},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30102723836898804},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24934175610542297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13385719060897827},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11880567669868469},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10553398728370667}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7368398308753967},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.7091845870018005},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.6984285116195679},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6001533269882202},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5618436336517334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48020610213279724},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4701034426689148},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.4434283673763275},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39606088399887085},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30102723836898804},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24934175610542297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13385719060897827},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11880567669868469},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10553398728370667},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866566","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866566","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":19,"referenced_works":["https://openalex.org/W1744335642","https://openalex.org/W2021068971","https://openalex.org/W2022781970","https://openalex.org/W2026582138","https://openalex.org/W2035030428","https://openalex.org/W2037729465","https://openalex.org/W2051620263","https://openalex.org/W2075644492","https://openalex.org/W2082551964","https://openalex.org/W2085153522","https://openalex.org/W2092035644","https://openalex.org/W2097568396","https://openalex.org/W2111966261","https://openalex.org/W2125356896","https://openalex.org/W2133859362","https://openalex.org/W2143982885","https://openalex.org/W2155307968","https://openalex.org/W2156895423","https://openalex.org/W2161636262"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W2318265355","https://openalex.org/W1486724195","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W4200464353","https://openalex.org/W2387566434","https://openalex.org/W1515848118","https://openalex.org/W4233878620"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3,9,23,165],"novel":[4],"methodology":[5],"is":[6,66,133,162],"proposed":[7,62,105],"for":[8,38,67,164],"biped(humanoid)":[10],"robot":[11,70,118],"to":[12,72,84,102],"step":[13],"down":[14,52,74,77],"stairs":[15],"using":[16],"FPE(Foot":[17],"Placement":[18],"Estimator)[1].":[19],"Firstly,":[20],"we":[21],"defined":[22,37],"biped":[24,46,69,95,117],"model":[25,29],"as":[26,54,120,137],"7":[27],"mass":[28],"and":[30,33,78,129,135,147,169],"various":[31],"geometric":[32],"inertial":[34],"properties":[35],"are":[36,100,153],"inducing":[39],"the":[40,45,50,61,68,80,89,94,104,111,116,121,126,130,138,144,148,158],"initial":[41,90,112,159],"angular":[42,91,113,160],"velocity":[43,92,114,161],"of":[44,60,93,115],"robot.":[47,96],"We":[48],"divided":[49],"stepping":[51,76,122,139,154,167,170],"motion":[53],"4":[55],"consecutive":[56],"motions.":[57],"The":[58,97,107],"objective":[59],"foot":[63],"placement":[64],"estimator":[65],"not":[71],"falling":[73],"during":[75],"make":[79],"final":[81],"kinematic":[82],"energy":[83],"zero":[85,163],"value":[86],"by":[87],"estimating":[88],"numerical":[98],"simulations":[99],"performed":[101],"verify":[103],"methodology.":[106],"results":[108],"shows":[109],"that":[110],"decreases":[119],"angle(the":[123],"angle":[124,168],"between":[125,143],"current":[127,145],"stair":[128,146],"next":[131,149],"stair)":[132,150],"increased":[134],"increases":[136],"distance":[140,142],"(the":[141],"increases.":[151],"There":[152],"distances":[155],"at":[156],"which":[157],"specified":[166],"distance.":[171]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
