{"id":"https://openalex.org/W2496180689","doi":"https://doi.org/10.1109/snpd.2016.7515880","title":"A novel fuzzy omni-directional gait planning algorithm for biped robot","display_name":"A novel fuzzy omni-directional gait planning algorithm for biped robot","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2496180689","doi":"https://doi.org/10.1109/snpd.2016.7515880","mag":"2496180689"},"language":"en","primary_location":{"id":"doi:10.1109/snpd.2016.7515880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/snpd.2016.7515880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 17th IEEE/ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing (SNPD)","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/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, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xian, 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, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045031118","display_name":"Weihao Liang","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":"Weihao Liang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110434558","display_name":"Ming'ai Dang","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":"Ming'ai Dang","raw_affiliation_strings":["School of Software and Microelectronics, Northwestern Polytechnical University, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Software and Microelectronics, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077493861","display_name":"Huahui Chen","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":"Huahui Chen","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","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":false,"raw_author_name":"Shixiong Wang","raw_affiliation_strings":["School of Electronics and Information, Northwestern Polytechnical University, Xian, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information, Northwestern Polytechnical University, Xian, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.175,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.57435652,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"71","last_page":"76"},"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":0.989799976348877,"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":0.9736999869346619,"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/gait","display_name":"Gait","score":0.6801049709320068},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6428234577178955},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.6222304701805115},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.598919153213501},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5694912075996399},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5545029640197754},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5125370025634766},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5060641169548035},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39067721366882324},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3904803991317749},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37920573353767395},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.35186395049095154},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16465085744857788}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6801049709320068},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6428234577178955},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.6222304701805115},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.598919153213501},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5694912075996399},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5545029640197754},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5125370025634766},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5060641169548035},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39067721366882324},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3904803991317749},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37920573353767395},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.35186395049095154},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16465085744857788},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/snpd.2016.7515880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/snpd.2016.7515880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 17th IEEE/ACIS International Conference on Software Engineering, Artificial Intelligence, Networking and Parallel/Distributed Computing (SNPD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1483124440","https://openalex.org/W1673489295","https://openalex.org/W1976497813","https://openalex.org/W1981551417","https://openalex.org/W1995708555","https://openalex.org/W2002357899","https://openalex.org/W2081103703","https://openalex.org/W2086274107","https://openalex.org/W2097568396","https://openalex.org/W2101995592","https://openalex.org/W2146215813","https://openalex.org/W2319199983","https://openalex.org/W2320442663","https://openalex.org/W2325126111","https://openalex.org/W2392049822","https://openalex.org/W4292416098"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2250140200","https://openalex.org/W3121791438"],"abstract_inverted_index":{"Aiming":[0],"at":[1],"the":[2,8,12,43,50,55,72,76,85,93,104,107,120,123,127],"problems":[3],"in":[4,113],"gait":[5,22,38,63,73,94,112],"planning":[6,23,39,46],"of":[7,96,111,126],"biped":[9],"robots,":[10],"including":[11,75],"complex":[13,124],"model,":[14,40],"low":[15],"stability,":[16],"etc.,":[17],"a":[18,34,61,114],"novel":[19],"fuzzy":[20,62,86],"omni-directional":[21,37],"algorithm":[24,47,66],"(FOGPA)":[25],"is":[26,67],"proposed.":[27],"At":[28,83],"first,":[29],"this":[30],"method":[31],"puts":[32],"forward":[33,69],"new":[35],"separated":[36],"which":[41],"combines":[42],"straight":[44],"walking":[45],"based":[48],"on":[49],"improved":[51],"Hermite":[52],"interpolation":[53],"and":[54,79,109,117],"rotation":[56,80],"motion":[57],"together.":[58],"And":[59],"then,":[60],"parameter":[64],"adjustment":[65],"put":[68],"to":[70,91,122],"control":[71,87],"parameters":[74],"step":[77],"size":[78],"speed":[81],"dynamically.":[82],"last,":[84],"results":[88,101],"are":[89],"used":[90],"get":[92],"data":[95],"robot":[97],"real-timely.":[98],"The":[99],"experiment":[100],"show":[102],"that":[103],"FOGPA":[105],"improves":[106,119],"stability":[108],"robustness":[110],"certain":[115],"degree":[116],"also":[118],"adaptability":[121],"environment":[125],"robot.":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
