{"id":"https://openalex.org/W2110013467","doi":"https://doi.org/10.1142/s0219843609001930","title":"RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION","display_name":"RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2110013467","doi":"https://doi.org/10.1142/s0219843609001930","mag":"2110013467"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843609001930","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001930","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/A5026284458","display_name":"Baek-Kyu Cho","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"BAEK-KYU CHO","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, 335 Gwahangno Yuseong-gu, Daejeon, 305-701, Republic of Korea","Department of Mechanical Engineering, KAIST, 335 Gwahangno, Yuseong-Gu, Daejeon, 305-701, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, 335 Gwahangno Yuseong-gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, 335 Gwahangno, Yuseong-Gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090005815","display_name":"Ill-Woo Park","orcid":"https://orcid.org/0000-0002-0029-9562"},"institutions":[{"id":"https://openalex.org/I161024014","display_name":"Kwangwoon University","ror":"https://ror.org/02e9zc863","country_code":"KR","type":"education","lineage":["https://openalex.org/I161024014"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"ILL-WOO PARK","raw_affiliation_strings":["Department of Information and Control Engineering, Kwang-Woon University, 447-1 Wolgye-dong, Nowon-gu Seoul, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Information and Control Engineering, Kwang-Woon University, 447-1 Wolgye-dong, Nowon-gu Seoul, Republic of Korea","institution_ids":["https://openalex.org/I161024014"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JUN-HO OH","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, 335 Gwahangno Yuseong-gu, Daejeon, 305-701, Republic of Korea","Department of Mechanical Engineering, KAIST, 335 Gwahangno, Yuseong-Gu, Daejeon, 305-701, Republic of Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, 335 Gwahangno Yuseong-gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, 335 Gwahangno, Yuseong-Gu, Daejeon, 305-701, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026284458"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.5564,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.82953343,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"06","issue":"04","first_page":"631","last_page":"656"},"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":0.9876999855041504,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9304999709129333,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.7755982875823975},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.753115177154541},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6976087093353271},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6598976254463196},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.5237560272216797},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.5177696943283081},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4855611026287079},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47689512372016907},{"id":"https://openalex.org/keywords/fixed-point","display_name":"Fixed point","score":0.45744770765304565},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4064961075782776},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33479565382003784},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23553037643432617},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1811140775680542},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14217454195022583},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.1421579122543335},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11339214444160461}],"concepts":[{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.7755982875823975},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.753115177154541},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6976087093353271},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6598976254463196},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.5237560272216797},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.5177696943283081},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4855611026287079},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47689512372016907},{"id":"https://openalex.org/C61445026","wikidata":"https://www.wikidata.org/wiki/Q217608","display_name":"Fixed point","level":2,"score":0.45744770765304565},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4064961075782776},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33479565382003784},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23553037643432617},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1811140775680542},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14217454195022583},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1421579122543335},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11339214444160461},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843609001930","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001930","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":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":3,"referenced_works":["https://openalex.org/W2092535029","https://openalex.org/W2137547873","https://openalex.org/W2161427949"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2606527650","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2220923292","https://openalex.org/W2163503851"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,15,18,34,39,43,60,63,67,70,80,84,95,99,105,140,146,166,184],"generation":[4,24,188],"of":[5,17,21,66,72,94,98],"a":[6,10,50,110,115,123,127,135,156,162,175],"running":[7,22,28,51,137,163,186],"pattern":[8,23,52,138,164,187],"for":[9,126],"humanoid":[11,176],"biped":[12,106,177],"and":[13,37,42,122],"verifies":[14],"validity":[16],"proposed":[19,185],"method":[20],"via":[25],"experiments.":[26],"Two":[27],"patterns":[29,45],"are":[30,46],"generated":[31],"independently":[32],"in":[33,38,59,139,155,165],"sagittal":[35,61,141],"plane":[36,41,142,168],"frontal":[40,167],"two":[44],"then":[47],"combined.":[48],"When":[49],"is":[53,75,152],"created":[54],"with":[55,114],"resolved":[56],"momentum":[57,65,82],"control":[58],"plane,":[62],"angular":[64,81],"robot":[68,85,113],"about":[69],"Center":[71],"Mass":[73],"(COM)":[74],"set":[76,108],"to":[77,86],"zero,":[78],"as":[79,109,179],"causes":[83],"rotate.":[87],"However,":[88],"this":[89,103,160],"also":[90,170],"induces":[91],"unnatural":[92],"motion":[93],"upper":[96],"body":[97],"robot.":[100],"To":[101],"solve":[102],"problem,":[104],"was":[107,131,143,169,193],"virtual":[111,128],"under-actuated":[112,129],"free":[116],"joint":[117],"at":[118],"its":[119],"support":[120],"ankle,":[121],"fixed":[124,147,150],"point":[125,151],"system":[130],"determined.":[132],"Following":[133],"this,":[134],"periodic":[136],"formulated":[144],"using":[145,183],"point.":[148],"The":[149],"easily":[153],"determined":[154],"numerical":[157],"approach.":[158],"In":[159,172],"way,":[161],"generated.":[171],"an":[173],"experiment,":[174],"known":[178],"KHR-2":[180],"ran":[181],"forward":[182],"method.":[189],"Its":[190],"maximum":[191],"velocity":[192],"2.88":[194],"km/h.":[195]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}