{"id":"https://openalex.org/W2015046019","doi":"https://doi.org/10.1142/s0219843604000228","title":"SENSOR AND CONTROL ASPECTS OF BIPED ROBOT \"JOHNNIE\"","display_name":"SENSOR AND CONTROL ASPECTS OF BIPED ROBOT \"JOHNNIE\"","publication_year":2004,"publication_date":"2004-09-01","ids":{"openalex":"https://openalex.org/W2015046019","doi":"https://doi.org/10.1142/s0219843604000228","mag":"2015046019"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843604000228","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843604000228","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5053250124","display_name":"Friedrich Pfeiffer","orcid":"https://orcid.org/0000-0001-5321-633X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"FRIEDRICH PFEIFFER","raw_affiliation_strings":["Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062307846","display_name":"K. L\u00f6ffler","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"KLAUS L\u00d6FFLER","raw_affiliation_strings":["Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"MICHAEL GIENGER","raw_affiliation_strings":["Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"HEINZ ULBRICH","raw_affiliation_strings":["Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Applied Mechanics, Technical  University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute for Applied Mechanics, Technical University of Munich, Boltzmannstrasse 15, 85748 Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.53,"has_fulltext":false,"cited_by_count":34,"citation_normalized_percentile":{"value":0.9187612,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"01","issue":"03","first_page":"481","last_page":"496"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9506000280380249,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T12810","display_name":"Real-time simulation and control systems","score":0.9447000026702881,"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":0.8493024110794067},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6875525712966919},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6484982967376709},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6373343467712402},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.615545392036438},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.6107511520385742},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.561045229434967},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5520520210266113},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.5111833214759827},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4997587203979492},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4792373478412628},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4455646276473999},{"id":"https://openalex.org/keywords/implementation","display_name":"Implementation","score":0.42378124594688416},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.358389675617218},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2989027202129364},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08632269501686096}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8493024110794067},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6875525712966919},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6484982967376709},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6373343467712402},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.615545392036438},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6107511520385742},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.561045229434967},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5520520210266113},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5111833214759827},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4997587203979492},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4792373478412628},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4455646276473999},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.42378124594688416},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.358389675617218},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2989027202129364},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08632269501686096},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843604000228","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843604000228","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W4242361967","https://openalex.org/W4252510982","https://openalex.org/W4298563212"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W2120447654","https://openalex.org/W2977179488","https://openalex.org/W3032871857","https://openalex.org/W2144453115","https://openalex.org/W2128223750","https://openalex.org/W3104633800","https://openalex.org/W4238532390","https://openalex.org/W2188872161","https://openalex.org/W2141022958"],"abstract_inverted_index":{"The":[0,43],"biped":[1],"robot":[2],"\"Johnnie\"":[3],"is":[4,46],"designed":[5],"to":[6,54],"achieve":[7],"a":[8,66,71],"dynamically":[9],"stable":[10],"gait":[11],"pattern,":[12],"allowing":[13],"for":[14,25],"high":[15],"walking":[16],"velocities.":[17],"Very":[18],"accurate":[19],"and":[20,36,59,70],"fast":[21],"sensors":[22,53],"were":[23],"developed":[24],"the":[26,30,33,37,49],"machine.":[27],"In":[28],"particular":[29],"design":[31],"of":[32,79],"3D-orientation":[34],"sensor":[35,40],"6-axes":[38],"force-torque":[39],"are":[41,64],"presented.":[42],"control":[44,73],"scheme":[45],"based":[47],"on":[48],"information":[50],"from":[51],"these":[52],"deal":[55],"with":[56,74],"unstructured":[57],"terrain":[58],"disturbances.":[60],"Two":[61],"different":[62],"implementations":[63],"investigated:":[65],"computed":[67],"torque":[68],"approach":[69],"trajectory":[72],"adaptive":[75],"trajectories.":[76],"Walking":[77],"speeds":[78],"2.2":[80],"km/h":[81],"have":[82],"been":[83],"achieved":[84],"in":[85],"experiments.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}