{"id":"https://openalex.org/W2106943223","doi":"https://doi.org/10.1142/s0219843611002447","title":"A UNIVERSAL BIPED WALKING GENERATOR FOR COMPLEX ENVIRONMENTS WITH PATTERN FEASIBILITY CHECKING","display_name":"A UNIVERSAL BIPED WALKING GENERATOR FOR COMPLEX ENVIRONMENTS WITH PATTERN FEASIBILITY CHECKING","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2106943223","doi":"https://doi.org/10.1142/s0219843611002447","mag":"2106943223"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843611002447","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843611002447","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/A5043699681","display_name":"Jinsu Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"JINSU LIU","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018632321","display_name":"Feng Xue","orcid":"https://orcid.org/0000-0001-7416-7717"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"FENG XUE","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084710341","display_name":"Xiaoping Chen","orcid":"https://orcid.org/0000-0001-8992-9286"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"XIAOPING CHEN","raw_affiliation_strings":["School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Computer Science and Technology, University of Science and Technology of China, Hefei, Anhui, 230027, PRC","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I126520041"],"apc_list":null,"apc_paid":null,"fwci":1.2654,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79907626,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"08","issue":"02","first_page":"323","last_page":"357"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9918000102043152,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.8639025688171387},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.7168214321136475},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7167933583259583},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6703332662582397},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.6538162231445312},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6328287720680237},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5732734203338623},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.45453622937202454},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4319782257080078},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4001227021217346},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.31986597180366516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24964281916618347},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19080281257629395},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.11314401030540466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07073649764060974}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8639025688171387},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.7168214321136475},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7167933583259583},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6703332662582397},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.6538162231445312},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6328287720680237},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5732734203338623},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.45453622937202454},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4319782257080078},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4001227021217346},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.31986597180366516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24964281916618347},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19080281257629395},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.11314401030540466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07073649764060974},{"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843611002447","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843611002447","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1551031212","https://openalex.org/W1778336207","https://openalex.org/W1874049655","https://openalex.org/W2000359213","https://openalex.org/W2002804012","https://openalex.org/W2006010000","https://openalex.org/W2020705044","https://openalex.org/W2021512411","https://openalex.org/W2025299767","https://openalex.org/W2028071467","https://openalex.org/W2037729465","https://openalex.org/W2068303649","https://openalex.org/W2070507784","https://openalex.org/W2086927075","https://openalex.org/W2096127980","https://openalex.org/W2104479525","https://openalex.org/W2107063340","https://openalex.org/W2114193135","https://openalex.org/W2124431379","https://openalex.org/W2125177287","https://openalex.org/W2125356896","https://openalex.org/W2127895608","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2149244757","https://openalex.org/W2153622987","https://openalex.org/W2158866377","https://openalex.org/W2159722616","https://openalex.org/W2163781471","https://openalex.org/W2164723206","https://openalex.org/W2166264053","https://openalex.org/W2544835031"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2593698653","https://openalex.org/W2042533733","https://openalex.org/W2368185326","https://openalex.org/W2151114014","https://openalex.org/W4387143509","https://openalex.org/W2651176679","https://openalex.org/W2106943223","https://openalex.org/W1978880990"],"abstract_inverted_index":{"In":[0,26],"this":[1,39,53],"paper,":[2],"we":[3,55],"propose":[4],"a":[5,57,71,76,107],"universal":[6],"biped":[7,65],"walking":[8,16,59,72,104],"generator":[9,40],"that":[10],"can":[11],"plan":[12,110],"smooth":[13],"and":[14,24,116,134,147],"flexible":[15],"motions":[17,66],"in":[18,85],"complex":[19],"environments,":[20],"including":[21],"stairs,":[22],"slopes,":[23],"obstacles.":[25],"addition":[27],"to":[28,61,101,124,129],"generating":[29],"collision-free":[30],"patterns":[31,45],"while":[32,111],"keeping":[33],"the":[34,37,44,49,63,68,80,103,135],"balance":[35,115],"of":[36,70,75,79,137],"robot,":[38],"also":[41,95],"checks":[42],"whether":[43],"are":[46,141],"achievable":[47],"for":[48,106],"robot.":[50],"Aiming":[51],"at":[52],"goal,":[54],"introduce":[56],"simplified":[58],"method":[60,100],"specify":[62],"complete":[64],"with":[67],"unit":[69],"step,":[73],"instead":[74],"time":[77,83],"step":[78],"robot's":[81],"working":[82],"used":[84],"usual":[86],"methods.":[87],"The":[88,132],"zero":[89],"moment":[90],"point":[91],"sampling":[92],"search":[93],"is":[94,122],"proposed":[96,123,139],"as":[97],"an":[98],"efficient":[99],"determine":[102],"solution":[105],"feasible":[108,130],"footstep":[109,127],"simultaneously":[112],"considering":[113],"dynamic":[114],"feasibility.":[117],"Furthermore,":[118],"another":[119],"sampling-based":[120],"algorithm":[121],"revise":[125],"unfeasible":[126],"plans":[128],"ones.":[131],"feasibility":[133],"efficiency":[136],"our":[138],"approach":[140],"demonstrated":[142],"by":[143],"experiments":[144],"on":[145],"simulated":[146],"real":[148],"Nao":[149],"robots.":[150]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}