{"id":"https://openalex.org/W1979874411","doi":"https://doi.org/10.1142/s0219843608001339","title":"ON SOME ASPECTS OF HUMANOID ROBOTS GAIT SYNTHESIS AND CONTROL AT SMALL DISTURBANCES","display_name":"ON SOME ASPECTS OF HUMANOID ROBOTS GAIT SYNTHESIS AND CONTROL AT SMALL DISTURBANCES","publication_year":2008,"publication_date":"2008-03-01","ids":{"openalex":"https://openalex.org/W1979874411","doi":"https://doi.org/10.1142/s0219843608001339","mag":"1979874411"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843608001339","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843608001339","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/A5110296223","display_name":"Miomir Vukobratovi\u0107","orcid":"https://orcid.org/0000-0001-8596-6426"},"institutions":[{"id":"https://openalex.org/I10572248","display_name":"Institut Mihajlo Pupin","ror":"https://ror.org/00jk2b778","country_code":"RS","type":"facility","lineage":["https://openalex.org/I10572248","https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":true,"raw_author_name":"MIOMIR VUKOBRATOVI\u0106","raw_affiliation_strings":["Institute Mihajlo Pupin, Volgina 15, 11000-Belgrade, Serbia"],"affiliations":[{"raw_affiliation_string":"Institute Mihajlo Pupin, Volgina 15, 11000-Belgrade, Serbia","institution_ids":["https://openalex.org/I10572248"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033260817","display_name":"Branislav Borova\u0107","orcid":"https://orcid.org/0000-0001-7446-1027"},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"BRANISLAV BOROVAC","raw_affiliation_strings":["University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia"],"affiliations":[{"raw_affiliation_string":"University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia","institution_ids":["https://openalex.org/I170726198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078929277","display_name":"Mirko Rakovi\u0107","orcid":"https://orcid.org/0000-0002-8818-2739"},"institutions":[{"id":"https://openalex.org/I170726198","display_name":"University of Novi Sad","ror":"https://ror.org/00xa57a59","country_code":"RS","type":"education","lineage":["https://openalex.org/I170726198"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"MIRKO RAKOVI\u0106","raw_affiliation_strings":["University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia"],"affiliations":[{"raw_affiliation_string":"University of Novi Sad, Faculty of Technical Sciences, 21000-Novi Sad, Trg D, Obradovi\u0107a 6, Serbia","institution_ids":["https://openalex.org/I170726198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031790874","display_name":"Veljko Potkonjak","orcid":"https://orcid.org/0000-0003-4490-4717"},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"VELJKO POTKONJAK","raw_affiliation_strings":["University of Belgrade, Faculty of Electrical Engineering, 11000-Belgrade, Bulevar Kralja Aleksandra 73, Serbia"],"affiliations":[{"raw_affiliation_string":"University of Belgrade, Faculty of Electrical Engineering, 11000-Belgrade, Bulevar Kralja Aleksandra 73, Serbia","institution_ids":["https://openalex.org/I4068193"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031413650","display_name":"Mom\u010dilo Milinovi\u0107","orcid":null},"institutions":[{"id":"https://openalex.org/I4068193","display_name":"University of Belgrade","ror":"https://ror.org/02qsmb048","country_code":"RS","type":"education","lineage":["https://openalex.org/I4068193"]}],"countries":["RS"],"is_corresponding":false,"raw_author_name":"MOM\u010cILO MILINOVI\u0106","raw_affiliation_strings":["University of Belgrade, Faculty of Mechanical Engineering, 11120-Belgrade 35, Kraljaice Marije 16, Serbia"],"affiliations":[{"raw_affiliation_string":"University of Belgrade, Faculty of Mechanical Engineering, 11120-Belgrade 35, Kraljaice Marije 16, Serbia","institution_ids":["https://openalex.org/I4068193"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5110296223"],"corresponding_institution_ids":["https://openalex.org/I10572248"],"apc_list":null,"apc_paid":null,"fwci":3.1489,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.90742701,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"05","issue":"01","first_page":"119","last_page":"156"},"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":0.9948999881744385,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9836000204086304,"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":0.7718710899353027},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.600332498550415},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.5431157946586609},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4952162802219391},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.49135032296180725},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.440046489238739},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.4223478138446808},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37762898206710815},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37641090154647827},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3747071623802185},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3257852792739868},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3228038549423218},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.24284985661506653},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19921058416366577}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7718710899353027},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.600332498550415},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.5431157946586609},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4952162802219391},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.49135032296180725},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.440046489238739},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.4223478138446808},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37762898206710815},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37641090154647827},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3747071623802185},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3257852792739868},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3228038549423218},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.24284985661506653},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19921058416366577},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843608001339","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843608001339","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320330165","display_name":"Serbian Academy of Sciences and Arts","ror":"https://ror.org/05m1y4204"},{"id":"https://openalex.org/F4320330193","display_name":"Chinese Academy of Engineering","ror":"https://ror.org/00z3yke57"},{"id":"https://openalex.org/F4320334771","display_name":"Science and Engineering Research Board","ror":"https://ror.org/03ffdsr55"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W1874861438","https://openalex.org/W1979999200","https://openalex.org/W2012536241","https://openalex.org/W2024117775","https://openalex.org/W2037729465","https://openalex.org/W2057380381","https://openalex.org/W2102126235","https://openalex.org/W2118495694","https://openalex.org/W2133859362","https://openalex.org/W2136103510","https://openalex.org/W2137395969","https://openalex.org/W2991542025","https://openalex.org/W4252510982","https://openalex.org/W6605673989"],"related_works":["https://openalex.org/W2949150093","https://openalex.org/W1981179827","https://openalex.org/W3141840228","https://openalex.org/W1992273876","https://openalex.org/W4206661479","https://openalex.org/W3134497028","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2390631805"],"abstract_inverted_index":{"This":[0],"work":[1],"considers":[2],"some":[3],"aspects":[4],"of":[5,8,12,24,51,70,91,93,107,121],"the":[6,18,33,39,49,61,74,81,85,89,99,108,112,119],"problem":[7,90],"generating":[9],"and":[10,30,95,115],"preserving":[11],"two-legged":[13],"gait":[14,28,100,113],"bearing":[15],"in":[16,58,80,84,103,111,118],"mind":[17],"requirements":[19],"for":[20],"a":[21,55,77],"higher":[22],"degree":[23],"similarity":[25],"with":[26],"human":[27],"(anthropomorphism)":[29],"robustness":[31],"to":[32],"constantly":[34],"present":[35],"small":[36],"disturbances":[37,94,122],"during":[38,98],"walk.":[40],"Reference":[41],"motion":[42,72],"was":[43,65],"synthesized":[44],"by":[45],"semi-inverse":[46],"method,":[47],"varying":[48],"mode":[50],"ZMP":[52,71],"traveling":[53],"along":[54,73],"path":[56,75],"selected":[57],"advance":[59],"on":[60],"foot\u2013ground":[62],"surface.":[63],"It":[64],"found":[66],"that":[67],"different":[68],"ways":[69],"has":[76],"decisive":[78],"role":[79,117],"trunk":[82,110],"deflection":[83],"sagittal":[86],"plane.":[87],"Also,":[88],"classification":[92],"their":[96],"compensation":[97,120],"is":[101,123],"discussed":[102],"detail.":[104],"The":[105],"significance":[106],"multi-link":[109],"synthesis":[114],"its":[116],"also":[124],"considered.":[125]},"counts_by_year":[{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
