{"id":"https://openalex.org/W2228102949","doi":"https://doi.org/10.1142/s0219843615500413","title":"Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control","display_name":"Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control","publication_year":2015,"publication_date":"2015-11-11","ids":{"openalex":"https://openalex.org/W2228102949","doi":"https://doi.org/10.1142/s0219843615500413","mag":"2228102949"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843615500413","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843615500413","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/A5038451102","display_name":"Juan A. Castano","orcid":"https://orcid.org/0000-0001-5704-9487"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Juan Alejandro Castano","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026845307","display_name":"Chengxu Zhou","orcid":"https://orcid.org/0000-0002-6677-0855"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chengxu Zhou","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5038451102"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":4.3643,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.94617062,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"13","issue":"02","first_page":"1550041","last_page":"1550041"},"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":0.9980000257492065,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.8363299369812012},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8026830554008484},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7652047872543335},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7624115943908691},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.645824134349823},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5654554963111877},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.47712066769599915},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.457236111164093},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43003350496292114},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.42436307668685913},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3483831584453583},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25829821825027466},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18524014949798584},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14147904515266418},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10624060034751892}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8363299369812012},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8026830554008484},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7652047872543335},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7624115943908691},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.645824134349823},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5654554963111877},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.47712066769599915},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.457236111164093},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43003350496292114},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.42436307668685913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3483831584453583},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25829821825027466},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18524014949798584},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14147904515266418},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10624060034751892},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1142/s0219843615500413","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843615500413","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:eprints.whiterose.ac.uk:144472","is_oa":false,"landing_page_url":"http://eprints.whiterose.ac.uk/144472/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W566530810","https://openalex.org/W1554765194","https://openalex.org/W1588183783","https://openalex.org/W1639534865","https://openalex.org/W2008873779","https://openalex.org/W2037729465","https://openalex.org/W2047668791","https://openalex.org/W2069270694","https://openalex.org/W2072241589","https://openalex.org/W2079179322","https://openalex.org/W2099129715","https://openalex.org/W2118556387","https://openalex.org/W2121457380","https://openalex.org/W2125414868","https://openalex.org/W2127828969","https://openalex.org/W2128068001","https://openalex.org/W2133859362","https://openalex.org/W2139372276","https://openalex.org/W2152182695","https://openalex.org/W2153190828","https://openalex.org/W2155520728","https://openalex.org/W2161427949","https://openalex.org/W2171838777","https://openalex.org/W2314530751","https://openalex.org/W2314851580","https://openalex.org/W2539534359","https://openalex.org/W2732939747"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,176,183],"novel":[4],"online":[5,89],"walking":[6,48],"control":[7,19,58,119,125,162,193],"that":[8],"replans":[9],"the":[10,21,39,47,65,71,74,92,111,115,131,136,145,148,159,192,207,210,213,219,222,226],"gait":[11,72,76,99,108,143,149,161],"pattern":[12],"based":[13,37,185],"on":[14,38],"our":[15],"proposed":[16],"foot":[17,33,56,85,217],"placement":[18,34,57],"using":[20],"actual":[22],"center":[23],"of":[24,32,104,158,194,209,215,221],"mass":[25,173],"(COM)":[26],"state":[27],"feedback.":[28],"The":[29,55,78,156,187],"analytic":[30],"solution":[31],"is":[35,127,163,189],"formulated":[36],"linear":[40],"inverted":[41],"pendulum":[42],"model":[43,123],"(LIPM)":[44],"to":[45,51,63,69,91,122,129,140,175],"recover":[46],"velocity":[49],"and":[50,61,84,151,225],"reject":[52],"external":[53],"disturbances.":[54],"predicts":[59],"where":[60],"when":[62],"place":[64],"foothold":[66,94],"in":[67,182],"order":[68],"modulate":[70],"given":[73],"desired":[75,98],"parameters.":[77],"zero":[79],"moment":[80],"point":[81],"(ZMP)":[82],"references":[83],"trajectories":[86],"are":[87,101,153],"replanned":[88],"according":[90],"updated":[93],"prediction.":[95],"Hence,":[96],"only":[97],"parameters":[100],"required":[102],"instead":[103],"predefined":[105],"or":[106],"fixed":[107],"patterns.":[109],"Given":[110],"new":[112],"ZMP":[113,132],"references,":[114],"extended":[116],"prediction":[117,214],"self-adaptive":[118],"(EPSAC)":[120],"approach":[121],"predictive":[124],"(MPC)":[126],"used":[128],"minimize":[130],"response":[133],"errors":[134],"considering":[135],"acceleration":[137],"constraints.":[138],"Furthermore,":[139],"ensure":[141],"smooth":[142],"transitions,":[144],"conditions":[146],"for":[147],"initiation":[150],"termination":[152],"also":[154],"presented.":[155],"effectiveness":[157],"presented":[160],"validated":[164],"by":[165,191],"extensive":[166],"disturbance":[167],"rejection":[168],"studies":[169],"ranging":[170],"from":[171,202],"single":[172],"simulation":[174],"full":[177],"body":[178],"humanoid":[179],"robot":[180],"COMAN":[181],"physics":[184],"simulator.":[186],"versatility":[188],"demonstrated":[190],"reactive":[195,200],"gaits":[196],"as":[197,199],"well":[198],"stepping":[201],"standing":[203],"posture.":[204],"We":[205],"present":[206],"data":[208],"applied":[211],"disturbances,":[212],"sagittal/lateral":[216],"placements,":[218],"replanning":[220],"foot/ZMP":[223],"trajectories,":[224],"COM":[227],"responses.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}