{"id":"https://openalex.org/W2149176832","doi":"https://doi.org/10.1109/robot.2009.5152768","title":"Rough terrain walking for bipedal robot by using ZMP criteria map","display_name":"Rough terrain walking for bipedal robot by using ZMP criteria map","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2149176832","doi":"https://doi.org/10.1109/robot.2009.5152768","mag":"2149176832"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5112629611","display_name":"T. Takubo","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Takubo","raw_affiliation_strings":["Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation, Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057591135","display_name":"Yusuke Imada","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Imada","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025950008","display_name":"Kenichi Ohara","orcid":"https://orcid.org/0000-0003-1712-3245"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Ohara","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044203013","display_name":"Yasushi Mae","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Y. Mae","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017331725","display_name":"Tatsuo Arai","orcid":"https://orcid.org/0000-0001-7863-5696"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Arai","raw_affiliation_strings":["Osaka Daigaku, Suita, Osaka, JP"],"affiliations":[{"raw_affiliation_string":"Osaka Daigaku, Suita, Osaka, JP","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112629611"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":1.3341,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.81310615,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"23","issue":null,"first_page":"788","last_page":"793"},"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":0.9951000213623047,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9916999936103821,"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/terrain","display_name":"Terrain","score":0.8158853054046631},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6301398277282715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6064032912254333},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5578591823577881},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4779374897480011},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4615144729614258},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4578910768032074},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.2241959273815155},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.20454064011573792},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.1334945261478424}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8158853054046631},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6301398277282715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6064032912254333},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5578591823577881},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4779374897480011},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4615144729614258},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4578910768032074},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.2241959273815155},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.20454064011573792},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.1334945261478424},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2009.5152768","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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":0.6299999952316284}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W2130456189","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2143454724","https://openalex.org/W2143982885","https://openalex.org/W2153622987","https://openalex.org/W2154167846","https://openalex.org/W2164681577","https://openalex.org/W2165887401","https://openalex.org/W2320053039","https://openalex.org/W2332920146","https://openalex.org/W2544819098"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2122871747","https://openalex.org/W2132444301","https://openalex.org/W3114279067"],"abstract_inverted_index":{"A":[0],"new":[1],"method":[2,185],"for":[3],"bipedal":[4],"walking":[5,19,36,143,178],"on":[6,58,148],"rough":[7,17],"terrain":[8,18],"by":[9,28,54],"using":[10],"ZMP":[11,90,150,154,173],"criteria":[12,151,155,174],"map":[13,156],"is":[14,20,38,70,100,111,139,145,186,193],"proposed.":[15],"The":[16,35,141,153,183],"classified":[21],"to":[22,43,83,124,188],"\u201cstep":[23,26,65,106],"up\u201d":[24],"and":[25,50,75,116,163,190],"down\u201d":[27],"landing":[29,68,109,161,164],"timing":[30,49,53,69,110,162],"of":[31,64,93,105,132,166],"a":[32,55,159,167],"swing":[33,77,118,168],"leg.":[34,169],"pattern":[37,144,179],"modified":[39,142],"in":[40],"real-time":[41],"according":[42],"the":[44,47,51,59,62,67,73,76,85,89,94,103,108,114,117,126,130,133,149,172,176,191],"difference":[45],"between":[46],"ideal":[48],"measured":[52],"force":[56],"sensor":[57],"foot.":[60],"In":[61,102],"case":[63,104],"up\u201d,":[66],"faster":[71],"than":[72,113],"ideal,":[74,115],"leg":[78,119],"trajectory":[79,120],"should":[80,121],"be":[81,122,181],"change":[82,123],"follow":[84],"step":[86],"so":[87,128],"that":[88,129],"based":[91,147],"balance":[92,131],"sudden":[95],"caused":[96],"double":[97,136],"support":[98,137],"phase":[99,138],"kept.":[101,140],"down\u201d,":[107],"later":[112],"seek":[125],"ground":[127],"unknown":[134],"future":[135],"decided":[146],"map.":[152],"can":[157,180],"indicate":[158],"safe":[160],"position":[165],"By":[170],"referring":[171],"map,":[175],"robust":[177],"planned.":[182],"proposed":[184],"implemented":[187],"HRP-2,":[189],"effectiveness":[192],"confirmed":[194],"through":[195],"experiments.":[196]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}