{"id":"https://openalex.org/W2131220705","doi":"https://doi.org/10.1109/icmlc.2011.6016927","title":"Multi-objective optimization for a humanoid robot walking on slopes","display_name":"Multi-objective optimization for a humanoid robot walking on slopes","publication_year":2011,"publication_date":"2011-07-01","ids":{"openalex":"https://openalex.org/W2131220705","doi":"https://doi.org/10.1109/icmlc.2011.6016927","mag":"2131220705"},"language":"en","primary_location":{"id":"doi:10.1109/icmlc.2011.6016927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc.2011.6016927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 International Conference on Machine Learning and Cybernetics","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/A5083973158","display_name":"Sheng Bi","orcid":"https://orcid.org/0000-0001-5830-0629"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Sheng Bi","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Zhong-Jie Zhuang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong-Jie Zhuang","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068845586","display_name":"Xia tuo","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tuo Xia","raw_affiliation_strings":["School of Software, South China University of Technology, Guangzhou, China","School of Software, South China University of Technology, Guangzhou 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou 510006, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037259294","display_name":"Mo Huaxi","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua-Xi Mo","raw_affiliation_strings":["School of Software, South China University of Technology, Guangzhou, China","School of Software, South China University of Technology, Guangzhou 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou 510006, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041506521","display_name":"Huaqing Min","orcid":"https://orcid.org/0000-0003-3763-2856"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua-Qing Min","raw_affiliation_strings":["School of Software, South China University of Technology, Guangzhou, China","School of Software, South China University of Technology, Guangzhou 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Software, South China University of Technology, Guangzhou 510006, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101563319","display_name":"Ronghua Luo","orcid":"https://orcid.org/0000-0001-8629-3323"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong-Hua Luo","raw_affiliation_strings":["School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5083973158"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.4314,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.6747496,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"1261","last_page":"1267"},"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":0.9822999835014343,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8494510650634766},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6878601908683777},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.660720944404602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5800593495368958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5553619861602783},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.4983201026916504},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46406206488609314},{"id":"https://openalex.org/keywords/gait-cycle","display_name":"Gait cycle","score":0.44219234585762024},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42085155844688416},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3152649700641632},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2197386622428894},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1340143084526062},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.0989784300327301},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09674742817878723},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08569952845573425}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8494510650634766},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6878601908683777},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.660720944404602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5800593495368958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5553619861602783},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.4983201026916504},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46406206488609314},{"id":"https://openalex.org/C2985215115","wikidata":"https://www.wikidata.org/wiki/Q22305006","display_name":"Gait cycle","level":3,"score":0.44219234585762024},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42085155844688416},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3152649700641632},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2197386622428894},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1340143084526062},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0989784300327301},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09674742817878723},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08569952845573425},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmlc.2011.6016927","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc.2011.6016927","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 International Conference on Machine Learning and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2037729465","https://openalex.org/W2131582257","https://openalex.org/W2133833137","https://openalex.org/W2138136244","https://openalex.org/W2162550735","https://openalex.org/W2381837754","https://openalex.org/W6679311152","https://openalex.org/W6680050846","https://openalex.org/W6683700157","https://openalex.org/W7066588348"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W2390475535","https://openalex.org/W2536500502","https://openalex.org/W2611160909","https://openalex.org/W3017911271","https://openalex.org/W2913503957","https://openalex.org/W2995649005","https://openalex.org/W2027166246","https://openalex.org/W2600139093","https://openalex.org/W2147467411"],"abstract_inverted_index":{"A":[0],"multi-objective":[1,104],"gait":[2,68,105],"optimization":[3,52,106],"method":[4,53,107],"for":[5,65],"a":[6,50],"humanoid":[7,21],"robot's":[8],"walking":[9,30,56,73],"on":[10,19,31,44,55,113],"slopes":[11,24,32,114],"is":[12,33,61,90],"proposed":[13,62],"in":[14],"this":[15,103],"paper.":[16],"Firstly,":[17],"based":[18,43,54],"SCUT-I":[20,87],"robot":[22,88,111],"and":[23,38,59,81,92,100,118],"model,":[25],"the":[26,66,75,82,98,110],"complicated":[27],"process":[28],"of":[29,78,84,102],"parameterized":[34],"so":[35],"that":[36,70,108],"hip":[37],"ankle":[39],"trajectories":[40],"are":[41,71],"planned":[42],"IPM":[45],"(inverted":[46],"pendulum":[47],"model).":[48],"Secondly,":[49],"multi-object":[51],"stability,":[57],"velocity":[58],"energy":[60,120],"to":[63],"search":[64],"optimal":[67],"parameters":[69],"step,":[72],"cycle,":[74],"supporting":[76],"time":[77],"double":[79],"feet":[80],"height":[83],"foot.":[85],"Finally,":[86],"model":[89],"built":[91],"simulated":[93],"by":[94],"Matlab6.5,":[95],"which":[96],"verifies":[97],"effectiveness":[99],"stability":[101],"makes":[109],"walk":[112],"more":[115],"stably,":[116],"quickly":[117],"lower":[119],"consumption.":[121]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
