{"id":"https://openalex.org/W2999370494","doi":"https://doi.org/10.1109/arso46408.2019.8948719","title":"Foot trajectory planning of bipedal walking robot based on a uniform acceleration method","display_name":"Foot trajectory planning of bipedal walking robot based on a uniform acceleration method","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2999370494","doi":"https://doi.org/10.1109/arso46408.2019.8948719","mag":"2999370494"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","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/A5049849389","display_name":"Chunyu Jiang","orcid":"https://orcid.org/0009-0008-2052-9493"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunyu Jiang","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie, Zhongguancun, Haidian, Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie, Zhongguancun, Haidian, Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023088081","display_name":"Junyao Gao","orcid":"https://orcid.org/0000-0002-5091-7285"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyao Gao","raw_affiliation_strings":["Intelligent Robotics Institute, high-tech Innovation Center of Intelligent robot and system, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijing,China,100081"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, high-tech Innovation Center of Intelligent robot and system, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijing,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101103826","display_name":"Xuanyang Shi","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuanyang Shi","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057033887","display_name":"Dingkui Tian","orcid":"https://orcid.org/0009-0000-6997-2586"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dingkui Tian","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie Zhongguancun, Haidian, Beijin,China,100081","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049849389"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.52176036,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"251","last_page":"255"},"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":0.9977999925613403,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9731000065803528,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8165205717086792},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8150773048400879},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6718264222145081},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6273900270462036},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.5944101214408875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5678273439407349},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48730170726776123},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4855225086212158},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45945268869400024},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4395943880081177},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.41527116298675537},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25084614753723145},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2205040156841278},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13651493191719055},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09861189126968384},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09661313891410828},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08799034357070923}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8165205717086792},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8150773048400879},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6718264222145081},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6273900270462036},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5944101214408875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5678273439407349},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48730170726776123},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4855225086212158},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45945268869400024},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4395943880081177},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.41527116298675537},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25084614753723145},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2205040156841278},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13651493191719055},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09861189126968384},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09661313891410828},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08799034357070923},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso46408.2019.8948719","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948719","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8199999928474426,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1969168411","https://openalex.org/W2037729465","https://openalex.org/W2065326178","https://openalex.org/W2070507784","https://openalex.org/W2107063340","https://openalex.org/W2111527309","https://openalex.org/W2125356896","https://openalex.org/W2129754669","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2145477224","https://openalex.org/W2168879898","https://openalex.org/W2542370644"],"related_works":["https://openalex.org/W2017264114","https://openalex.org/W2031468446","https://openalex.org/W1548112240","https://openalex.org/W2145478262","https://openalex.org/W4308080090","https://openalex.org/W2067604067","https://openalex.org/W3026781629","https://openalex.org/W3116659675","https://openalex.org/W4282016643","https://openalex.org/W2059706327"],"abstract_inverted_index":{"This":[0,17],"paper":[1],"proposes":[2],"a":[3],"uniform":[4],"acceleration":[5,22],"method":[6,18,71],"to":[7],"plan":[8],"the":[9,12,20,24,27,31,34,40,46,50,65],"trajectory":[10,57],"of":[11,23,30,42,52,69],"biped":[13],"robot":[14],"walking":[15,28],"process.":[16],"decreases":[19],"peak":[21],"foot":[25,56],"during":[26],"process":[29],"robot,":[32],"optimizes":[33],"hip":[35,47],"joint":[36],"torque,":[37],"and":[38,55,64,67],"reduces":[39],"risk":[41],"motor":[43],"overrun":[44],"at":[45],"joint.":[48],"Meanwhile,":[49],"Center":[51],"Mass":[53],"(CoM)":[54],"formulas":[58],"are":[59,72],"derived":[60],"in":[61],"this":[62,70],"paper,":[63],"effectiveness":[66],"feasibility":[68],"also":[73],"verified":[74],"by":[75],"simulation":[76],"experiment.":[77]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
