{"id":"https://openalex.org/W2114281440","doi":"https://doi.org/10.1109/robot.2003.1241571","title":"Frontal plane algorithms for dynamic bipedal walking","display_name":"Frontal plane algorithms for dynamic bipedal walking","publication_year":2004,"publication_date":"2004-03-02","ids":{"openalex":"https://openalex.org/W2114281440","doi":"https://doi.org/10.1109/robot.2003.1241571","mag":"2114281440"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2003.1241571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Crescent, Singapore","Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Crescent, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039749767","display_name":"Gill A. Pratt","orcid":null},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.A. Pratt","raw_affiliation_strings":["F.W. Olin College of Engineering, Needham, MA, USA","F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"F.W. Olin College of Engineering, Needham, MA, USA","institution_ids":["https://openalex.org/I137428128"]},{"raw_affiliation_string":"F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA)#TAB#","institution_ids":["https://openalex.org/I137428128"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5984,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.69421765,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"45","last_page":"50"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9937999844551086,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9922000169754028,"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/sagittal-plane","display_name":"Sagittal plane","score":0.7791464328765869},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5707222819328308},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.5244964957237244},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5151640176773071},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.508232831954956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4475637972354889},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4370042383670807},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.4107646048069},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36333179473876953},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18746569752693176},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09956207871437073},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0659615695476532}],"concepts":[{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.7791464328765869},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5707222819328308},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5244964957237244},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5151640176773071},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.508232831954956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4475637972354889},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4370042383670807},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.4107646048069},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36333179473876953},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18746569752693176},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09956207871437073},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0659615695476532},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2003.1241571","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2003.1241571","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1937967612","https://openalex.org/W1994923984","https://openalex.org/W2086587468","https://openalex.org/W2096361268","https://openalex.org/W2111527309","https://openalex.org/W2161427949","https://openalex.org/W2518914040","https://openalex.org/W2914669743","https://openalex.org/W6727019662"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W2130288220","https://openalex.org/W1973997235","https://openalex.org/W2324649015","https://openalex.org/W2992410780"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"two":[3],"frontal":[4,82],"plane":[5,42,83],"algorithms":[6,36],"for":[7,70],"3D":[8,50],"dynamic":[9],"bipedal":[10,51],"walking.":[11,57],"One":[12],"of":[13,20,65,80],"which":[14],"is":[15],"based":[16],"on":[17],"the":[18,23,31,63,66,71,78,81],"notion":[19],"symmetry":[21],"and":[22,44],"other":[24],"uses":[25],"reinforcement":[26],"learning":[27],"algorithm":[28,43],"to":[29,47,53],"learn":[30],"lateral":[32],"foot":[33],"placement.":[34],"The":[35,58],"are":[37],"combined":[38],"with":[39],"a":[40,48],"sagittal":[41],"successfully":[45],"applied":[46],"simulated":[49],"robot":[52],"achieve":[54],"level":[55],"ground":[56],"simulation":[59],"results":[60],"showed":[61],"that":[62],"choice":[64],"local":[67],"control":[68],"law":[69],"stance-ankle":[72],"roll":[73],"joint":[74],"could":[75],"significantly":[76],"affect":[77],"performance":[79],"algorithms.":[84]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}