{"id":"https://openalex.org/W2153918861","doi":"https://doi.org/10.1109/robot.2005.1570407","title":"Optimal Reference Motions for Walking of a Biped Robot","display_name":"Optimal Reference Motions for Walking of a Biped Robot","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2153918861","doi":"https://doi.org/10.1109/robot.2005.1570407","mag":"2153918861"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570407","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":"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/A5015035263","display_name":"D. Djoudi","orcid":"https://orcid.org/0000-0002-5905-2740"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"D. Djoudi","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France"],"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053183805","display_name":"Christine Chevallereau","orcid":"https://orcid.org/0000-0002-1929-5211"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Chevallereau","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France"],"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Aoustin","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France"],"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Universit de Nantes, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5015035263"],"corresponding_institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":2.5109,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.89037702,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"17","issue":null,"first_page":"2002","last_page":"2007"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9934999942779541,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9904000163078308,"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/control-theory","display_name":"Control theory (sociology)","score":0.7667457461357117},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6340053081512451},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6150198578834534},{"id":"https://openalex.org/keywords/scalar","display_name":"Scalar (mathematics)","score":0.4995110034942627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4936893880367279},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.49350035190582275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4924839437007904},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.47753703594207764},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4682755470275879},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4612705707550049},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4231397807598114},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.23115918040275574},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18180078268051147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12536224722862244},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08439522981643677},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0804680585861206}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7667457461357117},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6340053081512451},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6150198578834534},{"id":"https://openalex.org/C57691317","wikidata":"https://www.wikidata.org/wiki/Q1289248","display_name":"Scalar (mathematics)","level":2,"score":0.4995110034942627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4936893880367279},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.49350035190582275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4924839437007904},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.47753703594207764},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4682755470275879},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4612705707550049},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4231397807598114},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.23115918040275574},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18180078268051147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12536224722862244},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08439522981643677},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0804680585861206},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/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.2005.1570407","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570407","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":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1945741282","https://openalex.org/W1969168411","https://openalex.org/W1995551113","https://openalex.org/W2030515455","https://openalex.org/W2049080811","https://openalex.org/W2124431379","https://openalex.org/W2170892701"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2967125373","https://openalex.org/W2063875960"],"abstract_inverted_index":{"The":[0,41,75,110],"objective":[1],"of":[2,24,60,70,77,108,117,128,139],"this":[3,123],"study":[4],"is":[5,22,64,101],"to":[6,51,66,83,89,105],"obtain":[7],"optimal":[8,99],"cyclic":[9,92],"gaits":[10],"for":[11,94],"a":[12,71,85,91,129,140,144],"biped":[13],"without":[14],"actuated":[15],"ankle.":[16],"For":[17,122],"the":[18,20,52,58,61,78,95,98,115,118,125],"walking,":[19],"gait":[21,100],"composed":[23,138],"successive":[25],"single":[26,48,146],"support":[27,32,49,142,147],"phases":[28,33],"and":[29,88,112,143],"instantaneous":[30],"double":[31,141],"that":[34,136],"are":[35,81,120,131,137,148],"modeled":[36],"by":[37],"passive":[38],"impact":[39],"equations.":[40],"legs":[42],"swap":[43],"their":[44],"roles":[45],"from":[46],"one":[47],"phase":[50,57],"next":[53],"one.":[54],"During":[55],"each":[56],"evolution":[59],"joints":[62],"variables":[63],"assumed":[65],"be":[67],"polynomial":[68,79],"functions":[69,80],"scalar":[72],"path":[73],"parameter.":[74],"coefficients":[76],"chosen":[82],"optimise":[84],"torque":[86],"criterion":[87],"insure":[90],"motion":[93],"biped.":[96],"Furthermore,":[97],"defined":[102],"with":[103],"respect":[104],"given":[106],"performances":[107],"actuators.":[109],"torques":[111],"velocities":[113],"at":[114],"output":[116],"gearbox":[119],"bounded.":[121],"study,":[124],"physical":[126],"parameters":[127],"prototype":[130],"used.":[132],"Initial":[133],"starting":[134],"motions":[135],"transitional":[145],"also":[149],"defined.":[150]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}