{"id":"https://openalex.org/W2164681577","doi":"https://doi.org/10.1109/robot.2005.1570136","title":"A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots","display_name":"A Fast Online Gait Planning with Boundary Condition Relaxation for Humanoid Robots","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2164681577","doi":"https://doi.org/10.1109/robot.2005.1570136","mag":"2164681577"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5020961445","display_name":"Tomomichi Sugihara","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Sugihara","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate school of University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate school of University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Nakamura","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate school of University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate school of University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"305","last_page":"310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9932000041007996,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.973800003528595,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/trajectory","display_name":"Trajectory","score":0.7380990982055664},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6702122688293457},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6300318241119385},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5749168992042542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5712761878967285},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5684399008750916},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5561387538909912},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5350595116615295},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.5281327366828918},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5205665230751038},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.5120925903320312},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5108782649040222},{"id":"https://openalex.org/keywords/boundary","display_name":"Boundary (topology)","score":0.49975085258483887},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34765520691871643},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24634242057800293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23902201652526855},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15969237685203552},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1592729389667511},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13715672492980957},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1209382712841034}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7380990982055664},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6702122688293457},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6300318241119385},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5749168992042542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5712761878967285},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684399008750916},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5561387538909912},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5350595116615295},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.5281327366828918},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5205665230751038},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.5120925903320312},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5108782649040222},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.49975085258483887},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34765520691871643},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24634242057800293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23902201652526855},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15969237685203552},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1592729389667511},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13715672492980957},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1209382712841034},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570136","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570136","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W149508848","https://openalex.org/W1510918013","https://openalex.org/W1581909396","https://openalex.org/W1778214895","https://openalex.org/W1939926247","https://openalex.org/W1971175227","https://openalex.org/W2021512411","https://openalex.org/W2036484113","https://openalex.org/W2064263864","https://openalex.org/W2107063340","https://openalex.org/W2123477693","https://openalex.org/W2126284677","https://openalex.org/W2129754669","https://openalex.org/W2135537910","https://openalex.org/W2137300190","https://openalex.org/W2142992961","https://openalex.org/W2544988770"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W2745063183","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"A":[0,83],"fast":[1],"online":[2],"gait":[3,86],"planning":[4,87],"method":[5],"is":[6,17,28,42,77,88,111],"proposed.":[7],"Based":[8],"on":[9,33],"an":[10,80],"approximate":[11],"dynamical":[12],"biped":[13],"model":[14],"whose":[15],"mass":[16],"concentrated":[18],"to":[19,39],"COG,":[20],"general":[21],"solution":[22],"of":[23,26,73,97,109],"the":[24,34,40,54,98,102],"equation":[25],"motion":[27,64],"analytically":[29],"obtained.":[30],"Dynamical":[31],"constraint":[32],"external":[35],"reaction":[36],"force":[37],"due":[38],"underactuation":[41],"resolved":[43],"by":[44,49,70],"boundary":[45],"condition":[46],"relaxation,":[47],"namely,":[48],"admitting":[50],"some":[51],"error":[52],"between":[53],"desired":[55,104],"and":[56,116],"actually":[57],"reached":[58],"state.":[59],"It":[60,91],"potentially":[61],"creates":[62],"responsive":[63],"which":[65,76],"requires":[66],"strong":[67],"instantaneous":[68],"acceleration":[69],"accepting":[71],"discontinuity":[72],"ZMP":[74],"trajectory,":[75],"designed":[78],"as":[79],"exponential":[81],"function.":[82],"semi-automatic":[84],"continuous":[85],"also":[89],"presented.":[90],"generates":[92],"physically":[93],"feasible":[94],"referential":[95],"trajectory":[96],"whole-body":[99],"only":[100],"from":[101],"next":[103],"foot":[105],"placement.":[106],"The":[107],"validity":[108],"proposed":[110],"ensured":[112],"through":[113],"both":[114],"simulations":[115],"experiments":[117],"with":[118],"a":[119],"small":[120],"anthropomorphic":[121],"robot.":[122]},"counts_by_year":[{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}