{"id":"https://openalex.org/W2920885858","doi":"https://doi.org/10.1109/robio.2018.8665327","title":"Design of the 3D Gait Generator for a Novel Biped Aircushion-feet Robot","display_name":"Design of the 3D Gait Generator for a Novel Biped Aircushion-feet Robot","publication_year":2018,"publication_date":"2018-12-01","ids":{"openalex":"https://openalex.org/W2920885858","doi":"https://doi.org/10.1109/robio.2018.8665327","mag":"2920885858"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2018.8665327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5100442494","display_name":"Qingwei Liu","orcid":"https://orcid.org/0000-0003-4918-785X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qingwei Liu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102787842","display_name":"Fan Yu","orcid":"https://orcid.org/0000-0001-5428-3665"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fan Yu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100442494"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.183324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"1712","last_page":"1719"},"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":0.9940000176429749,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.7229909896850586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6626811027526855},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6603537797927856},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.6035811305046082},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5882630348205566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.556123673915863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5195142030715942},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.49809932708740234},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4160332679748535},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38164034485816956},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3677752614021301},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.35963380336761475},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15248286724090576},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.08658486604690552},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07931956648826599},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07677167654037476}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7229909896850586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6626811027526855},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6603537797927856},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.6035811305046082},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5882630348205566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.556123673915863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5195142030715942},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.49809932708740234},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4160332679748535},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38164034485816956},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3677752614021301},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.35963380336761475},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15248286724090576},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.08658486604690552},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07931956648826599},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07677167654037476},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/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.2018.8665327","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2018.8665327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W195033972","https://openalex.org/W1512173993","https://openalex.org/W1560270123","https://openalex.org/W1563911911","https://openalex.org/W1661823234","https://openalex.org/W1945123189","https://openalex.org/W1964946446","https://openalex.org/W1994275787","https://openalex.org/W2025752438","https://openalex.org/W2036484113","https://openalex.org/W2037729465","https://openalex.org/W2062533874","https://openalex.org/W2081596740","https://openalex.org/W2098432798","https://openalex.org/W2101226662","https://openalex.org/W2116310395","https://openalex.org/W2119534895","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2142992961","https://openalex.org/W2144351850","https://openalex.org/W2149407815","https://openalex.org/W2154631918","https://openalex.org/W2160111545","https://openalex.org/W2255696229","https://openalex.org/W2539534359","https://openalex.org/W2596329897","https://openalex.org/W2782670287","https://openalex.org/W2784123835","https://openalex.org/W2991542025","https://openalex.org/W3102051120","https://openalex.org/W4231202173","https://openalex.org/W4249010688","https://openalex.org/W6607786297"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2163503851"],"abstract_inverted_index":{"Locomotion":[0],"on":[1,26,125],"different":[2,32],"terrain":[3,34],"is":[4,156],"an":[5],"important":[6],"research":[7],"subject":[8],"of":[9,152],"biped":[10,17],"robot.":[11],"This":[12],"paper":[13],"proposes":[14],"a":[15,78,86],"novel":[16,51],"aircushion-feet":[18],"robot":[19],"to":[20,31,43,67,99,109],"improve":[21,105],"pass":[22],"ability":[23],"and":[24,85,104,132,161,170,179,181],"stability":[25],"unstructured":[27],"soft":[28],"terrain.":[29],"According":[30],"prevailing":[33],"properties,":[35],"additional":[36,111],"ground":[37,112],"supporting":[38,113,184],"force":[39,56,114,185],"can":[40,186],"be":[41,187],"supplied":[42,115],"the":[44,49,110,117,153],"swing":[45],"foot":[46,53],"adaptively":[47],"by":[48,58,116],"proposed":[50,154],"aircushion":[52,118],"with":[54,142],"thrust":[55],"generated":[57,140],"blower":[59],"fans":[60],"during":[61],"single":[62],"support":[63],"phase.":[64],"In":[65],"order":[66],"realize":[68,100],"stable":[69],"Zero":[70],"Moment":[71],"Point":[72],"(ZMP)":[73],"method":[74,155],"based":[75,124],"3D":[76,80,136],"walking,":[77],"modified":[79],"nonlinear":[81],"inverted":[82],"pendulum":[83],"model":[84],"simplified":[87],"evolution":[88],"for":[89,95,135,158,173],"CoM":[90,131,177],"vertical":[91,183],"oscillation":[92],"are":[93,127,139],"adopted":[94],"walking":[96,106,137,160,163],"gait":[97,103,138],"generation":[98],"more":[101],"natural":[102],"efficiency.":[107],"Due":[108],"foot,":[119],"smoother":[120],"ZMP":[121,133,174],"reference":[122],"trajectories":[123,134],"B-spline":[126],"designed.":[128],"And":[129],"then":[130],"simultaneously":[141],"iterative":[143],"Linear":[144],"Quadratic":[145],"Regulator":[146],"(iLQR)":[147],"optimization":[148],"algorithm.":[149],"The":[150],"effectiveness":[151],"examined":[157],"straight":[159],"cornering":[162],"via":[164],"simulations.":[165],"Results":[166],"show":[167],"that":[168],"smooth":[169],"reasonable":[171],"profiles":[172],"location,":[175],"both":[176],"location":[178],"velocity,":[180],"also":[182],"generated.":[188]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
