{"id":"https://openalex.org/W2140640599","doi":"https://doi.org/10.1109/robot.2006.1642103","title":"Stepping motion for a human-like character to maintain balance against large perturbations","display_name":"Stepping motion for a human-like character to maintain balance against large perturbations","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2140640599","doi":"https://doi.org/10.1109/robot.2006.1642103","mag":"2140640599"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642103","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":"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/A5103762326","display_name":"Shunsuke Kudoh","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":"Shunsuke Kudoh","raw_affiliation_strings":["University of Tokyo, Tokyo, Japan","Tokyo University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Tokyo University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014324841","display_name":"Taku Komura","orcid":"https://orcid.org/0000-0002-2729-5860"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"T. Komura","raw_affiliation_strings":["City University of Hong Kong, Hong Kong, China","City University of Hong Kong, Hong kong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"City University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I168719708"]},{"raw_affiliation_string":"City University of Hong Kong, Hong kong, China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016258462","display_name":"Katsushi Ikeuchi","orcid":"https://orcid.org/0000-0001-9758-9357"},"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":"K. Ikeuchi","raw_affiliation_strings":["University of Tokyo, Tokyo, Japan","Univ. of Tokyo, Tokyo (Japan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Univ. of Tokyo, Tokyo (Japan)","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9129,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.93808536,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2661","last_page":"2666"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9997000098228455,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.7805195450782776},{"id":"https://openalex.org/keywords/character","display_name":"Character (mathematics)","score":0.6335227489471436},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5865632891654968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5851185321807861},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5205905437469482},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48829197883605957},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.47014954686164856},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4407515525817871},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.41693413257598877},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22448766231536865},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.21649500727653503},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21503636240959167},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16111892461776733},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.09083780646324158},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07470038533210754},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.07217469811439514}],"concepts":[{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.7805195450782776},{"id":"https://openalex.org/C2780861071","wikidata":"https://www.wikidata.org/wiki/Q1062934","display_name":"Character (mathematics)","level":2,"score":0.6335227489471436},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5865632891654968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5851185321807861},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5205905437469482},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48829197883605957},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.47014954686164856},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4407515525817871},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.41693413257598877},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22448766231536865},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.21649500727653503},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21503636240959167},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16111892461776733},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.09083780646324158},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07470038533210754},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.07217469811439514},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2006.1642103","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642103","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.126.3180","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.126.3180","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~cga/legs/745.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W2036484113","https://openalex.org/W2073531546","https://openalex.org/W2108411677","https://openalex.org/W2118320757","https://openalex.org/W2128128307","https://openalex.org/W2151669579","https://openalex.org/W2247191580","https://openalex.org/W4246543077","https://openalex.org/W4252718184","https://openalex.org/W6677867452"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W4390479742","https://openalex.org/W2097240936","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W4318681801","https://openalex.org/W2968985559","https://openalex.org/W2510926320","https://openalex.org/W1549943573","https://openalex.org/W4251281889"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,8,17,37,60,67],"method":[3,15,119],"of":[4,47,62,80,117],"maintaining":[5,48,63,81],"balance":[6,23,49,64],"for":[7],"human-like":[9,18],"character":[10],"against":[11,109],"large":[12],"perturbations.":[13],"The":[14],"enables":[16],"model":[19,61,76,108],"to":[20],"maintain":[21],"its":[22,31],"with":[24],"active":[25],"whole-body":[26,103],"motion,":[27],"such":[28,70],"as":[29,71],"rotating":[30],"arms,":[32],"bending":[33],"down,":[34],"and":[35,50,89,112],"taking":[36],"step,":[38],"if":[39],"necessary.":[40],"First,":[41],"we":[42,58,101,113],"capture":[43],"the":[44,84,87,94,107,115],"human":[45],"motions":[46],"abstract":[51],"essential":[52],"mechanisms":[53],"from":[54],"these":[55],"motions.":[56],"Next,":[57],"construct":[59],"that":[65],"has":[66,77],"simple":[68],"structure,":[69],"an":[72],"inverted":[73],"pendulum.":[74],"This":[75],"two":[78],"modes":[79],"balance:":[82],"keeping":[83],"feet":[85],"on":[86,106],"ground,":[88],"stepping.":[90],"In":[91],"this":[92],"paper,":[93],"stepping":[95],"mode":[96],"is":[97],"mainly":[98],"described.":[99],"Finally,":[100],"generate":[102],"motion":[104],"based":[105],"several":[110],"perturbations,":[111],"discuss":[114],"validity":[116],"our":[118]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
