{"id":"https://openalex.org/W1600660019","doi":"https://doi.org/10.1109/icra.2015.7140086","title":"Mimicking human walking with 5-link model using HZD controller","display_name":"Mimicking human walking with 5-link model using HZD controller","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1600660019","doi":"https://doi.org/10.1109/icra.2015.7140086","mag":"1600660019"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7140086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140086","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5017524660","display_name":"Maziar A. Sharbafi","orcid":"https://orcid.org/0000-0001-5727-7527"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maziar Ahmad Sharbafi","raw_affiliation_strings":["Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany","[Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"[Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany]","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Seyfarth","raw_affiliation_strings":["Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany","[Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"[Lauflabor Locomotion Lab, Technical University of Darmstadt, Germany]","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"422","issue":null,"first_page":"6313","last_page":"6319"},"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":0.9901000261306763,"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":0.9639999866485596,"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/computer-science","display_name":"Computer science","score":0.6522251963615417},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6250293850898743},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.598077654838562},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.5865746736526489},{"id":"https://openalex.org/keywords/virtual-actor","display_name":"Virtual actor","score":0.5553023815155029},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5203872919082642},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47199323773384094},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.45434921979904175},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.4508990943431854},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4473666846752167},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2757765054702759},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2717166543006897},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19028913974761963}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6522251963615417},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6250293850898743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.598077654838562},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.5865746736526489},{"id":"https://openalex.org/C150303390","wikidata":"https://www.wikidata.org/wiki/Q1983852","display_name":"Virtual actor","level":3,"score":0.5553023815155029},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5203872919082642},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47199323773384094},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.45434921979904175},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.4508990943431854},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4473666846752167},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2757765054702759},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2717166543006897},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19028913974761963},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7140086","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7140086","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 Robotics and Automation (ICRA)","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":29,"referenced_works":["https://openalex.org/W64523597","https://openalex.org/W1504362584","https://openalex.org/W1559393815","https://openalex.org/W1981932940","https://openalex.org/W1993314711","https://openalex.org/W1993917869","https://openalex.org/W2021368408","https://openalex.org/W2025415230","https://openalex.org/W2036484113","https://openalex.org/W2055728085","https://openalex.org/W2058562141","https://openalex.org/W2070839171","https://openalex.org/W2103243221","https://openalex.org/W2110844638","https://openalex.org/W2121829700","https://openalex.org/W2128131727","https://openalex.org/W2129224530","https://openalex.org/W2137547873","https://openalex.org/W2143366682","https://openalex.org/W2156174987","https://openalex.org/W2157055752","https://openalex.org/W2157924809","https://openalex.org/W2162405796","https://openalex.org/W2170320699","https://openalex.org/W2236379170","https://openalex.org/W4211003818","https://openalex.org/W6633631806","https://openalex.org/W6648445589","https://openalex.org/W6648683356"],"related_works":["https://openalex.org/W4294974825","https://openalex.org/W2967400911","https://openalex.org/W2943580202","https://openalex.org/W4241017176","https://openalex.org/W3000714840","https://openalex.org/W4361829742","https://openalex.org/W4245189921","https://openalex.org/W2344907852","https://openalex.org/W4297153906","https://openalex.org/W3104124721"],"abstract_inverted_index":{"Walking":[0],"with":[1,95,166],"5-link":[2],"model":[3],"has":[4],"been":[5],"achieved":[6,106,163],"by":[7,22,164],"HZD":[8,165],"(Hybrid":[9],"Zero":[10],"Dynamics)":[11],"controller":[12],"based":[13],"on":[14],"virtual":[15,27,46,72,87,169],"constraints.":[16,88,170],"These":[17],"holonomic":[18],"constraints":[19,47],"are":[20,48,61],"obtained":[21],"optimizing":[23],"a":[24,108,122,137],"set":[25],"of":[26,111,145,160],"relations":[28],"(e.g.,":[29],"Bezi\u00e9r":[30],"polynomial)":[31],"between":[32],"system":[33],"states":[34],"which":[35,79],"mostly":[36],"do":[37],"not":[38],"have":[39],"physical":[40],"interpretations.":[41],"In":[42],"this":[43],"paper,":[44],"the":[45,76,81,86,142,146],"designed":[49],"using":[50],"human":[51,57,65,102,149,167],"walking":[52],"experiment":[53,103],"data.":[54],"Inspiring":[55],"from":[56],"locomotion,":[58,129],"different":[59,133],"polynomials":[60],"extracted":[62],"to":[63,101,140],"mimic":[64],"joint":[66],"angles":[67,83],"patterns":[68],"during":[69],"walking.":[70,150],"The":[71],"leg":[73,96],"angle":[74],"is":[75,105,130],"increasing":[77],"variable":[78],"synchronize":[80],"joints":[82],"and":[84,97,113,148],"defines":[85],"Simulation":[89],"results":[90],"show":[91],"that":[92],"stable":[93],"locomotion":[94],"upper-body":[98],"behavior":[99,144],"similar":[100],"data":[104],"for":[107,132],"wide":[109],"range":[110],"speeds":[112,135],"body":[114],"configuration":[115],"parameters.":[116],"VPP":[117],"(Virtual":[118],"Pivot":[119],"Point)":[120],"concept,":[121],"significant":[123],"balancing":[124],"feature":[125],"found":[126],"in":[127],"human/animal":[128],"investigated":[131],"gait":[134],"as":[136,157],"performance":[138],"index":[139],"compare":[141],"kinetic":[143],"simulated":[147],"Hence,":[151],"we":[152],"present":[153],"human-like":[154],"posture":[155],"control":[156,162],"an":[158],"outcome":[159],"motion":[161],"inspired":[168]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}