{"id":"https://openalex.org/W3012173370","doi":"https://doi.org/10.1109/sii46433.2020.9025944","title":"Solving Inverse Kinematics using Geometric Analysis for Gait Generation in Small-Sized Humanoid Robots","display_name":"Solving Inverse Kinematics using Geometric Analysis for Gait Generation in Small-Sized Humanoid Robots","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3012173370","doi":"https://doi.org/10.1109/sii46433.2020.9025944","mag":"3012173370"},"language":"en","primary_location":{"id":"doi:10.1109/sii46433.2020.9025944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9025944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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/A5011465900","display_name":"Prasanna Sriganesh","orcid":"https://orcid.org/0000-0002-8803-8569"},"institutions":[{"id":"https://openalex.org/I196608512","display_name":"PES University","ror":"https://ror.org/05m169e78","country_code":"IN","type":"education","lineage":["https://openalex.org/I196608512"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Prasanna Sriganesh","raw_affiliation_strings":["PES University,Bangalore,India","PES University, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"PES University,Bangalore,India","institution_ids":["https://openalex.org/I196608512"]},{"raw_affiliation_string":"PES University, Bangalore, India","institution_ids":["https://openalex.org/I196608512"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019828710","display_name":"Prajwal Rajendra Mahendrakar","orcid":null},"institutions":[{"id":"https://openalex.org/I196608512","display_name":"PES University","ror":"https://ror.org/05m169e78","country_code":"IN","type":"education","lineage":["https://openalex.org/I196608512"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prajwal Rajendra Mahendrakar","raw_affiliation_strings":["PES University,Bangalore,India","PES University, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"PES University,Bangalore,India","institution_ids":["https://openalex.org/I196608512"]},{"raw_affiliation_string":"PES University, Bangalore, India","institution_ids":["https://openalex.org/I196608512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027855985","display_name":"Rajasekar Mohan","orcid":"https://orcid.org/0009-0001-9622-4732"},"institutions":[{"id":"https://openalex.org/I196608512","display_name":"PES University","ror":"https://ror.org/05m169e78","country_code":"IN","type":"education","lineage":["https://openalex.org/I196608512"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rajasekar Mohan","raw_affiliation_strings":["PES University,Bangalore,India","PES University, Bangalore, India"],"affiliations":[{"raw_affiliation_string":"PES University,Bangalore,India","institution_ids":["https://openalex.org/I196608512"]},{"raw_affiliation_string":"PES University, Bangalore, India","institution_ids":["https://openalex.org/I196608512"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5011465900"],"corresponding_institution_ids":["https://openalex.org/I196608512"],"apc_list":null,"apc_paid":null,"fwci":0.3433,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.53392995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"384","last_page":"389"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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":0.9873999953269958,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8995567560195923},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7767617106437683},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7242852449417114},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6733810901641846},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6599506735801697},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6143128871917725},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5378379821777344},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5320948958396912},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48943057656288147},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.47844910621643066},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35313212871551514},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.34591466188430786},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2826318144798279},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13509473204612732},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0892578661441803}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8995567560195923},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7767617106437683},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7242852449417114},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6733810901641846},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6599506735801697},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6143128871917725},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5378379821777344},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5320948958396912},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48943057656288147},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.47844910621643066},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35313212871551514},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.34591466188430786},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2826318144798279},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13509473204612732},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0892578661441803},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii46433.2020.9025944","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii46433.2020.9025944","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/SICE International Symposium on System Integration (SII)","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":6,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W2010618743","https://openalex.org/W2164889260","https://openalex.org/W2243991451","https://openalex.org/W2375002864","https://openalex.org/W2593189098"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W4389401105"],"abstract_inverted_index":{"Humanoid":[0],"Robots":[1],"can":[2,23],"play":[3],"a":[4,12,18,75,111],"major":[5],"role":[6],"in":[7,65,110],"domestic":[8],"automation.":[9],"It":[10],"is":[11,32,52,87],"platform":[13],"which":[14],"does":[15],"not":[16],"require":[17],"specific":[19],"work":[20],"environment":[21],"and":[22,89,108],"be":[24],"made":[25],"adaptable.":[26],"The":[27,98],"goal":[28],"of":[29,58,61],"this":[30],"paper":[31],"to":[33,54,73,77,103],"generate":[34],"stable":[35,112],"gaits":[36,92],"for":[37,43],"humanoid":[38,83],"robots":[39],"using":[40],"geometric":[41],"methods":[42],"kinematic":[44],"analysis.":[45],"A":[46,81],"3D":[47],"linear":[48],"inverted":[49],"pendulum":[50],"model":[51],"used":[53],"find":[55,74],"the":[56,59,78,90,96],"trajectory":[57,64],"center":[60],"mass.":[62],"This":[63],"turn":[66,106],"coupled":[67],"with":[68,85],"foot":[69],"positions":[70],"are":[71,93],"sufficient":[72],"solution":[76],"D-H":[79],"matrix.":[80],"small-sized":[82],"robot":[84,99],"17-DOF":[86],"built":[88],"generated":[91],"tested":[94],"on":[95],"robot.":[97],"was":[100],"successfully":[101],"able":[102],"walk":[104],"forward,":[105],"left":[107],"right":[109],"manner.":[113]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}