{"id":"https://openalex.org/W1673489295","doi":"https://doi.org/10.1109/icinfa.2015.7279317","title":"Humanoid robot's omnidirectional walking","display_name":"Humanoid robot's omnidirectional walking","publication_year":2015,"publication_date":"2015-08-01","ids":{"openalex":"https://openalex.org/W1673489295","doi":"https://doi.org/10.1109/icinfa.2015.7279317","mag":"1673489295"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2015.7279317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information 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/A5001896666","display_name":"Shixiong Wang","orcid":"https://orcid.org/0000-0002-4272-1864"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shixiong Wang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","School of Electronics and Information Northwestern Polytechnical University, Xi'an, Shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049492183","display_name":"Mengkai Hu","orcid":"https://orcid.org/0000-0002-7795-0704"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengkai Hu","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","School of Electronics and Information Northwestern Polytechnical University, Xi'an, Shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Electronics and Information Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013665827","display_name":"Haobin Shi","orcid":"https://orcid.org/0000-0003-2180-8941"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haobin Shi","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109058083","display_name":"Shuge Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuge Zhang","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013176979","display_name":"Xuesi Li","orcid":"https://orcid.org/0009-0003-9398-866X"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuesi Li","raw_affiliation_strings":["School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100749173","display_name":"Wenyan Li","orcid":"https://orcid.org/0009-0000-6591-1073"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenyan Li","raw_affiliation_strings":["School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","School of Automation Northwestern Polytechnical University Xi'an, shaanxi Province, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Northwestern Polytechnical University, Xi'an, Shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Automation Northwestern Polytechnical University Xi'an, shaanxi Province, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001896666"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.3541,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60969438,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"381","last_page":"385"},"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":0.980400025844574,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9656000137329102,"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/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.8218929767608643},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.7787628769874573},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7562423944473267},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6099410057067871},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6043304800987244},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.5774281024932861},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5406323075294495},{"id":"https://openalex.org/keywords/spline-interpolation","display_name":"Spline interpolation","score":0.4257756769657135},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42128488421440125},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.41513895988464355},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4142014980316162},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3574950098991394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.055050820112228394}],"concepts":[{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.8218929767608643},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.7787628769874573},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7562423944473267},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6099410057067871},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6043304800987244},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.5774281024932861},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5406323075294495},{"id":"https://openalex.org/C31447003","wikidata":"https://www.wikidata.org/wiki/Q545002","display_name":"Spline interpolation","level":3,"score":0.4257756769657135},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42128488421440125},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41513895988464355},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4142014980316162},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3574950098991394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.055050820112228394},{"id":"https://openalex.org/C205203396","wikidata":"https://www.wikidata.org/wiki/Q612143","display_name":"Bilinear interpolation","level":2,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2015.7279317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2015.7279317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Information and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W80853922","https://openalex.org/W1605738883","https://openalex.org/W2089362634","https://openalex.org/W2107063340","https://openalex.org/W2117277755","https://openalex.org/W2149863006","https://openalex.org/W2386420955","https://openalex.org/W2392049822","https://openalex.org/W7061070340"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W1989062809","https://openalex.org/W2118689766","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1966688224"],"abstract_inverted_index":{"The":[0,59],"development":[1],"of":[2,54,61],"humanoid":[3,79],"robots":[4],"has":[5],"great":[6],"advantages[1]":[7],"including":[8],"economically":[9],"efficient,":[10],"appreciation-worthy,":[11],"and":[12,27,57,73],"etc.":[13],"This":[14],"paper":[15],"proposes":[16],"an":[17],"omnidirectional":[18,75],"gait":[19],"generation":[20],"mode":[21],"based":[22,34],"on":[23,35,45],"linear":[24],"centroid":[25,48,56],"motion":[26],"the":[28,36,46,51,55,62,66,78],"cubic":[29],"spline":[30],"interpolation.":[31],"And":[32],"then,":[33],"ZMP":[37],"stability":[38],"criterion,":[39],"online":[40],"feedback":[41],"regulation":[42],"is":[43],"conducted":[44],"robots'":[47],"according":[49],"to":[50],"positional":[52],"relationship":[53],"ZMP.":[58],"result":[60],"simulation":[63],"verifies":[64],"that":[65],"method":[67],"can":[68],"effectively":[69],"implement":[70],"a":[71],"fast":[72],"stable":[74],"walk":[76],"for":[77],"robots.":[80]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
