{"id":"https://openalex.org/W2110639007","doi":"https://doi.org/10.1109/robot.2006.1641934","title":"Proposal of smooth biped walking control by means of heel-off motion","display_name":"Proposal of smooth biped walking control by means of heel-off motion","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2110639007","doi":"https://doi.org/10.1109/robot.2006.1641934","mag":"2110639007"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1641934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5090967957","display_name":"Masahiro Doi","orcid":null},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masahiro Doi","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","Dept. of Micro-Nano Syst. Eng.,, Nagoya Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Micro-Nano Syst. Eng.,, Nagoya Univ","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091376701","display_name":"Takayuki Matsuno","orcid":"https://orcid.org/0000-0003-3372-0912"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Matsuno","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","Dept. of Micro-Nano Syst. Eng.,, Nagoya Univ"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"Dept. of Micro-Nano Syst. Eng.,, Nagoya Univ","institution_ids":["https://openalex.org/I60134161"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067104092","display_name":"Yasuhisa Hasegawa","orcid":"https://orcid.org/0000-0001-9917-098X"},"institutions":[{"id":"https://openalex.org/I146399215","display_name":"University of Tsukuba","ror":"https://ror.org/02956yf07","country_code":"JP","type":"education","lineage":["https://openalex.org/I146399215"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Hasegawa","raw_affiliation_strings":["Department of Intelligent Interaction Technologies, University of Tsukuba, Japan","Department of Intelligent Interaction Technologies, University of Tsukuba, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, University of Tsukuba, Japan","institution_ids":["https://openalex.org/I146399215"]},{"raw_affiliation_string":"Department of Intelligent Interaction Technologies, University of Tsukuba, Japan#TAB#","institution_ids":["https://openalex.org/I146399215"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065569192","display_name":"Toshio Fukuda","orcid":"https://orcid.org/0000-0002-3885-7152"},"institutions":[{"id":"https://openalex.org/I60134161","display_name":"Nagoya University","ror":"https://ror.org/04chrp450","country_code":"JP","type":"education","lineage":["https://openalex.org/I60134161"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Fukuda","raw_affiliation_strings":["Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","[Department of Micro-nano Systems Engineering, University of Nagoya, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Micro-Nano Systems Engineering, University of Nagoya, Japan","institution_ids":["https://openalex.org/I60134161"]},{"raw_affiliation_string":"[Department of Micro-nano Systems Engineering, University of Nagoya, Japan]","institution_ids":["https://openalex.org/I60134161"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.17445194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1591","last_page":"1596"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9854000210762024,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.984000027179718,"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/sagittal-plane","display_name":"Sagittal plane","score":0.7115716338157654},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5784051418304443},{"id":"https://openalex.org/keywords/heel","display_name":"Heel","score":0.5663462281227112},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5406650304794312},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5103418231010437},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4536636471748352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43719711899757385},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39741051197052},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.31037914752960205},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21096742153167725},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15325912833213806},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.13507354259490967},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12471359968185425},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09364768862724304},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09205317497253418},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07116010785102844},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06570178270339966}],"concepts":[{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.7115716338157654},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5784051418304443},{"id":"https://openalex.org/C2777248721","wikidata":"https://www.wikidata.org/wiki/Q174647","display_name":"Heel","level":2,"score":0.5663462281227112},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5406650304794312},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5103418231010437},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4536636471748352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43719711899757385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39741051197052},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.31037914752960205},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21096742153167725},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15325912833213806},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.13507354259490967},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12471359968185425},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09364768862724304},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09205317497253418},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07116010785102844},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06570178270339966}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1641934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1641934","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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":18,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W1545656448","https://openalex.org/W1580520921","https://openalex.org/W1874049655","https://openalex.org/W1996511732","https://openalex.org/W2065942939","https://openalex.org/W2070038508","https://openalex.org/W2073293287","https://openalex.org/W2079407617","https://openalex.org/W2086756762","https://openalex.org/W2122903487","https://openalex.org/W2133066796","https://openalex.org/W2137547873","https://openalex.org/W2142992961","https://openalex.org/W2144101144","https://openalex.org/W2332920146","https://openalex.org/W2606761053","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2423203884","https://openalex.org/W1674176876","https://openalex.org/W2411329941","https://openalex.org/W2141376040","https://openalex.org/W2329465293","https://openalex.org/W2066354772","https://openalex.org/W1967218338","https://openalex.org/W2795148342","https://openalex.org/W2772424845","https://openalex.org/W1973733569"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"the":[3,19,22,29,50,65,74,84,93,97,105,115,130,139,143,166,174,179],"control":[4],"method":[5],"of":[6,31,107,117,151,154,176],"biped":[7],"walking":[8],"with":[9,178],"heel-off":[10,90,124,161],"motion.":[11,91],"Heel-off":[12],"motion":[13,35,42,45,54,86,125,162],"made":[14],"it":[15,156],"possible":[16,56,158],"to":[17,27,57,89,128,138,159],"avoid":[18],"problem":[20],"for":[21,169],"impact":[23,131],"shock":[24,132],"at":[25,133],"foot-contact":[26],"break":[28],"stabilization":[30],"walking.":[32],"The":[33],"3D":[34],"is":[36,46,55,81,87,111,119,126,157],"separated":[37],"into":[38],"lateral":[39,85],"and":[40,43,72,172],"sagittal":[41,98],"each":[44,53,61,170],"designed":[47,127],"individually":[48],"under":[49],"assumption":[51],"that":[52,83],"be":[58,147],"treated":[59],"independently":[60],"other.":[62],"We":[63,164],"adopt":[64],"approximate":[66],"1-mass":[67],"model":[68],"in":[69,96],"both":[70],"planes":[71],"derive":[73],"dynamics":[75,177],"based":[76],"on":[77],"these":[78],"models.":[79],"It":[80],"assumed":[82],"relevant":[88],"On":[92],"other":[94],"hand,":[95],"plane,":[99],"there":[100],"are":[101],"two":[102],"phases:":[103],"1)":[104],"center":[106,116],"rotation":[108,118],"(contact":[109],"point)":[110],"ankle":[112],"joint.":[113],"2)":[114],"toe.":[120],"In":[121],"phase":[122,141,153],"2),":[123],"diminish":[129],"foot-contact.":[134],"By":[135,149],"applying":[136],"PDAC":[137],"dynamics,":[140,155],"around":[142],"contact":[144],"point":[145],"can":[146],"derived.":[148],"means":[150],"this":[152],"inspect":[160],"analytically.":[163],"design":[165],"stabilizing":[167],"controller":[168],"plane":[171],"confirm":[173],"convergency":[175],"numerical":[180],"simulation":[181]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
