{"id":"https://openalex.org/W2025682449","doi":"https://doi.org/10.1142/s0219843606000527","title":"DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT","display_name":"DESIGN, DYNAMIC MODIFICATION, AND ADAPTIVE CONTROL OF A NEW BIPED WALKING ROBOT","publication_year":2006,"publication_date":"2006-03-01","ids":{"openalex":"https://openalex.org/W2025682449","doi":"https://doi.org/10.1142/s0219843606000527","mag":"2025682449"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843606000527","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843606000527","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/A5021527200","display_name":"Ahmad Bagheri","orcid":"https://orcid.org/0000-0002-8685-6349"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"AHMAD BAGHERI","raw_affiliation_strings":["Department of Mechanical Engineering, Guilan University, Rasht, P.O. Box 3756, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Guilan University, Rasht, P.O. Box 3756, Iran","institution_ids":["https://openalex.org/I877176835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043165501","display_name":"Farid Najafi","orcid":"https://orcid.org/0000-0001-8530-7180"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"FARID NAJAFI","raw_affiliation_strings":["Faculty of Mechanical Engineering, Khajeh Nassir University, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Khajeh Nassir University, Tehran, Iran","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023248877","display_name":"REZA FARROKHI","orcid":null},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"REZA FARROKHI","raw_affiliation_strings":["Department of Mechanical Engineering, Guilan University, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Guilan University, Iran","institution_ids":["https://openalex.org/I877176835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055733119","display_name":"R. Yousefi Moghaddam","orcid":null},"institutions":[{"id":"https://openalex.org/I46247651","display_name":"University of Manitoba","ror":"https://ror.org/02gfys938","country_code":"CA","type":"education","lineage":["https://openalex.org/I46247651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"RAHMAN YOUSEFI MOGHADDAM","raw_affiliation_strings":["Department of Mechanical and Manufacturing Engineering, University of Manitoba, Winnipeg, Canada","Department of Mechanical and Manufacturing Engineering, University of Manitoba , Winnipeg, Canada"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, University of Manitoba, Winnipeg, Canada","institution_ids":["https://openalex.org/I46247651"]},{"raw_affiliation_string":"Department of Mechanical and Manufacturing Engineering, University of Manitoba , Winnipeg, Canada","institution_ids":["https://openalex.org/I46247651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026641948","display_name":"Mohammad Ebrahim Felezi","orcid":null},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"MOHAMMAD EBRAHIM FELEZI","raw_affiliation_strings":["Department of Mechanical Engineering, Guilan University, Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Guilan University, Iran","institution_ids":["https://openalex.org/I877176835"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5021527200"],"corresponding_institution_ids":["https://openalex.org/I877176835"],"apc_list":null,"apc_paid":null,"fwci":0.5764,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.70431208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"03","issue":"01","first_page":"105","last_page":"126"},"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":0.9889000058174133,"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":0.9840999841690063,"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/zero-moment-point","display_name":"Zero moment point","score":0.8961228132247925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7650567293167114},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6901472806930542},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6415234804153442},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5452592372894287},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.47371238470077515},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4293793737888336},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42747771739959717},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41033416986465454},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33066263794898987},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27968746423721313},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24224713444709778},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1967187225818634},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.16039222478866577},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09341832995414734},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08940953016281128}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8961228132247925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7650567293167114},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6901472806930542},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6415234804153442},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5452592372894287},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.47371238470077515},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4293793737888336},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42747771739959717},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41033416986465454},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33066263794898987},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27968746423721313},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24224713444709778},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1967187225818634},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.16039222478866577},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09341832995414734},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08940953016281128},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1142/s0219843606000527","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843606000527","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.907.5327","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.907.5327","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www4.cs.umanitoba.ca/%7Ejacky/Teaching/Courses/COMP_7950-HumanoidRobotics/ReadingList/ijhr_S0219843606000527.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.910.8950","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.910.8950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Ahmad_Bagheri2/publication/220065665_Design_Dynamic_Modification_and_Adaptive_Control_of_a_New_Biped_Walking_Robot/links/0a85e539318e795a1d000000.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.920.98","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.920.98","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Ahmad_Bagheri2/publication/220065665_Design_Dynamic_Modification_and_Adaptive_Control_of_a_New_Biped_Walking_Robot/links/0a85e539318e795a1d000000.pdf?origin%3Dpublication_detail","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1545656448","https://openalex.org/W1829015105","https://openalex.org/W2065326178","https://openalex.org/W2086587468","https://openalex.org/W2131361798","https://openalex.org/W2142992961","https://openalex.org/W2163668399","https://openalex.org/W2331734107","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2369986695","https://openalex.org/W2171912896","https://openalex.org/W4287514897","https://openalex.org/W2542723153","https://openalex.org/W2133150803","https://openalex.org/W2021541810","https://openalex.org/W2362004994","https://openalex.org/W2494364224","https://openalex.org/W1965124047"],"abstract_inverted_index":{"Recently,":[0],"a":[1,30,53],"lot":[2],"of":[3,11,24,37,57,60,65,79,101],"research":[4],"has":[5],"been":[6],"conducted":[7],"in":[8],"the":[9,66,77,85,102,104],"area":[10],"biped":[12,33],"walking":[13],"robots":[14],"that":[15],"could":[16],"be":[17],"compared":[18],"to":[19,28,47],"human":[20],"beings.":[21],"The":[22,41],"aim":[23],"this":[25],"article":[26],"is":[27,45,81,93,125],"control":[29,100],"new":[31],"planar":[32],"robot":[34,44,80],"by":[35,83,117],"means":[36],"an":[38],"adaptive":[39,118],"procedure.":[40],"newly":[42],"designed":[43],"able":[46],"move":[48],"on":[49],"its":[50],"heel":[51],"like":[52],"human.":[54],"After":[55],"derivation":[56],"dynamic":[58,91],"equations":[59],"motion":[61,99],"for":[62,95],"two":[63],"states":[64],"robot,":[67,103],"namely,":[68],"\"supporting":[69],"leg":[70],"and":[71,73,112],"trunk\"":[72],"\"swing":[74],"leg\"":[75],"separately,":[76],"stability":[78],"achieved":[82],"locating":[84],"zero":[86],"moment":[87],"point":[88],"(ZMP).":[89],"A":[90,120],"modification":[92],"developed":[94],"ZMP":[96],"positioning.":[97],"For":[98],"physical":[105],"parameters":[106],"(such":[107],"as":[108],"mass,":[109],"link":[110],"length":[111],"geometry)":[113],"are":[114],"estimated":[115],"(identified)":[116],"methods.":[119],"Matlab":[121],"based":[122],"software":[123],"simulation":[124],"also":[126],"conducted.":[127]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}