{"id":"https://openalex.org/W2116593178","doi":"https://doi.org/10.1109/robot.2006.1642105","title":"Dynamics simulation for a biped robot: modeling and experimental verification","display_name":"Dynamics simulation for a biped robot: modeling and experimental verification","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2116593178","doi":"https://doi.org/10.1109/robot.2006.1642105","mag":"2116593178"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642105","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/A5067066595","display_name":"Thomas Buschmann","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"T. Buschmann","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Appl. Mech., Technische Univ. Munchen, Garching"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Appl. Mech., Technische Univ. Munchen, Garching","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023445877","display_name":"Sebastian Lohmeier","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"S. Lohmeier","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Appl. Mech., Technische Univ. Munchen, Garching"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Appl. Mech., Technische Univ. Munchen, Garching","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Ulbrich","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Appl. Mech., Technische Univ. Munchen, Garching"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Appl. Mech., Technische Univ. Munchen, Garching","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053250124","display_name":"Friedrich Pfeiffer","orcid":"https://orcid.org/0000-0001-5321-633X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Pfeiffer","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","Inst. of Appl. Mech., Technische Univ. Munchen, Garching"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Univerist\u00e4t M\u00fcnchen, Munich, Germany","institution_ids":[]},{"raw_affiliation_string":"Inst. of Appl. Mech., Technische Univ. Munchen, Garching","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067066595"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.6269,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.92775412,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2673","last_page":"2678"},"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9610000252723694,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9506000280380249,"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/robot","display_name":"Robot","score":0.7674795389175415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7645470499992371},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.7415206432342529},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.6060807108879089},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5841140747070312},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.533083438873291},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47190719842910767},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4252581298351288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4237726032733917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40097084641456604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19640696048736572},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17672860622406006},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12318986654281616}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7674795389175415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7645470499992371},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.7415206432342529},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.6060807108879089},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5841140747070312},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.533083438873291},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47190719842910767},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4252581298351288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4237726032733917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40097084641456604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19640696048736572},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17672860622406006},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12318986654281616},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642105","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642105","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":14,"referenced_works":["https://openalex.org/W85449908","https://openalex.org/W101193468","https://openalex.org/W1841249161","https://openalex.org/W1971493524","https://openalex.org/W2015046019","https://openalex.org/W2055422750","https://openalex.org/W2074172217","https://openalex.org/W2129850190","https://openalex.org/W2135406175","https://openalex.org/W2143454724","https://openalex.org/W2160192576","https://openalex.org/W2163665518","https://openalex.org/W2541519055","https://openalex.org/W6638877453"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2576969689"],"abstract_inverted_index":{"Dynamics":[0],"simulation":[1,21,63],"is":[2,28],"a":[3,51,58,61],"valuable":[4],"tool":[5],"for":[6,83],"biped":[7,18,66],"robot":[8,67],"hardware":[9],"and":[10,60,71],"controller":[11],"design.":[12],"Due":[13],"to":[14,31],"the":[15,33,38,42,65,91,100],"complexity":[16],"of":[17,44,64,90],"walking":[19],"robots,":[20],"times":[22],"can":[23,46],"be":[24,47],"quite":[25],"high.":[26],"It":[27],"therefore":[29],"important":[30],"identify":[32],"key":[34],"components":[35],"in":[36],"modeling":[37],"system":[39],"so":[40],"that":[41,81],"phenomena":[43,95],"interest":[45],"correctly":[48,86],"predicted":[49],"at":[50],"reasonable":[52],"numerical":[53],"cost.":[54],"In":[55],"this":[56],"paper":[57],"detailed":[59],"reduced":[62],"JOHNNIE":[68],"are":[69,73,96],"presented":[70],"results":[72,82],"compared":[74],"with":[75],"experimental":[76],"data.":[77],"The":[78],"comparison":[79],"shows":[80],"both":[84],"models":[85],"predict":[87],"global":[88],"dynamics":[89],"system,":[92],"while":[93],"some":[94],"only":[97],"captured":[98],"by":[99],"more":[101],"complex":[102],"model":[103]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"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"}
