{"id":"https://openalex.org/W2146215813","doi":"https://doi.org/10.1109/tie.2014.2360152","title":"Energy-Efficient Gait Planning and Control for Biped Robots Utilizing Vertical Body Motion and Allowable ZMP Region","display_name":"Energy-Efficient Gait Planning and Control for Biped Robots Utilizing Vertical Body Motion and Allowable ZMP Region","publication_year":2014,"publication_date":"2014-09-24","ids":{"openalex":"https://openalex.org/W2146215813","doi":"https://doi.org/10.1109/tie.2014.2360152","mag":"2146215813"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2014.2360152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2014.2360152","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5024370085","display_name":"Hyeok-Ki Shin","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyeok-Ki Shin","raw_affiliation_strings":["Department of Electrical Engineering, College of Information Science and Technology, Korea Advanced Institute of Science and Technology, Daejeon, Korea","[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Information Science and Technology, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030306044","display_name":"Byung Kook Kim","orcid":"https://orcid.org/0000-0001-7677-9653"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung Kook Kim","raw_affiliation_strings":["Department of Electrical Engineering, College of Information Science and Technology, Korea Advanced Institute of Science and Technology, Daejeon, Korea","[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, College of Information Science and Technology, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"[Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea]","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024370085"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":2.8024,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.90292226,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"62","issue":"4","first_page":"2277","last_page":"2286"},"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":0.996999979019165,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9828000068664551,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6752905249595642},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.592017650604248},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5513156652450562},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5394395589828491},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5389472246170044},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.48581528663635254},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.48398852348327637},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4816978871822357},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4680077135562897},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46764397621154785},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46412017941474915},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.2838302552700043},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2388574779033661},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.21103131771087646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1423758566379547}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6752905249595642},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.592017650604248},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5513156652450562},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5394395589828491},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5389472246170044},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.48581528663635254},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.48398852348327637},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4816978871822357},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4680077135562897},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46764397621154785},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46412017941474915},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2838302552700043},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2388574779033661},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.21103131771087646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1423758566379547},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2014.2360152","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2014.2360152","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1485447451","https://openalex.org/W1497252052","https://openalex.org/W1510877189","https://openalex.org/W1541034963","https://openalex.org/W1558625765","https://openalex.org/W1964950687","https://openalex.org/W1970970120","https://openalex.org/W1974986187","https://openalex.org/W1987580649","https://openalex.org/W1991800531","https://openalex.org/W2005126631","https://openalex.org/W2017357711","https://openalex.org/W2037729465","https://openalex.org/W2045921254","https://openalex.org/W2051287096","https://openalex.org/W2052346842","https://openalex.org/W2068033831","https://openalex.org/W2071579643","https://openalex.org/W2073376065","https://openalex.org/W2074321229","https://openalex.org/W2089183718","https://openalex.org/W2091849582","https://openalex.org/W2097568396","https://openalex.org/W2110749531","https://openalex.org/W2117962895","https://openalex.org/W2129754669","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2140764512","https://openalex.org/W2142132924","https://openalex.org/W2142568566","https://openalex.org/W2143613605","https://openalex.org/W2149458524","https://openalex.org/W2152526735","https://openalex.org/W2153828012","https://openalex.org/W2154748236","https://openalex.org/W2155009730","https://openalex.org/W2162391026","https://openalex.org/W2171263295","https://openalex.org/W2732939747","https://openalex.org/W6629611168","https://openalex.org/W6630513491","https://openalex.org/W6677026851","https://openalex.org/W6680826494"],"related_works":["https://openalex.org/W2037851209","https://openalex.org/W3003773262","https://openalex.org/W2099574271","https://openalex.org/W2219929061","https://openalex.org/W2782461643","https://openalex.org/W2077878636","https://openalex.org/W833778360","https://openalex.org/W1986105765","https://openalex.org/W1972707370","https://openalex.org/W2155560526"],"abstract_inverted_index":{"An":[0],"energy-efficient":[1],"gait":[2,43,84,96],"planning":[3],"(EEGP)":[4],"and":[5,26,59,72,102,109,132,148,161],"control":[6,157],"system":[7,158],"is":[8,87],"established":[9],"for":[10,120,152],"biped":[11],"robots":[12],"with":[13],"three-mass":[14],"inverted":[15],"pendulum":[16],"mode":[17],"(3MIPM),":[18],"which":[19,113],"utilizes":[20],"both":[21],"vertical":[22,74],"body":[23,75,100],"motion":[24],"(VBM)":[25],"allowable":[27],"zero-moment-point":[28],"(ZMP)":[29],"region":[30],"(AZR).":[31],"Given":[32],"a":[33,48,53,60],"distance":[34],"to":[35,46,79,90,140],"be":[36],"traveled,":[37],"we":[38],"newly":[39],"designed":[40],"an":[41],"online":[42],"synthesis":[44],"algorithm":[45],"construct":[47],"complete":[49],"walking":[50,111],"cycle,":[51],"i.e.,":[52,98,126],"starting":[54],"step,":[55,62],"multiple":[56],"cyclic":[57],"steps,":[58,108],"stopping":[61],"in":[63],"which:":[64],"1)":[65],"ZMP":[66,154],"was":[67,77,159],"fully":[68],"manipulated":[69],"within":[70],"AZR;":[71],"2)":[73],"movement":[76],"allowed":[78],"relieve":[80],"knee":[81],"bending.":[82],"Moreover,":[83],"parameter":[85],"optimization":[86],"effectively":[88],"performed":[89],"determine":[91],"the":[92,142,145,164],"optimal":[93],"set":[94],"of":[95,104,107,117,144],"parameters,":[97],"average":[99,110],"height":[101],"amplitude":[103],"VBM,":[105],"number":[106],"speed,":[112],"minimizes":[114],"energy":[115],"consumption":[116],"actuation":[118],"motors":[119],"leg":[121],"joints":[122],"under":[123],"practical":[124],"constraints,":[125,128],"geometrical":[127],"friction":[129],"force":[130],"limit,":[131],"yawing":[133],"moment":[134],"limit.":[135],"Various":[136],"simulations":[137],"were":[138],"conducted":[139],"identify":[141],"effectiveness":[143],"proposed":[146],"method":[147],"verify":[149],"energy-saving":[150],"performance":[151],"various":[153],"regions.":[155],"Our":[156],"implemented":[160],"tested":[162],"on":[163],"humanoid":[165],"robot":[166],"DARwIn-OP.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
