{"id":"https://openalex.org/W2996846637","doi":"https://doi.org/10.1142/s0219843620500036","title":"Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact","display_name":"Sequential Trajectory Generation for Dynamic Multi-Contact Locomotion Synchronizing Contact","publication_year":2019,"publication_date":"2019-12-12","ids":{"openalex":"https://openalex.org/W2996846637","doi":"https://doi.org/10.1142/s0219843620500036","mag":"2996846637"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843620500036","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500036","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/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Mitsuharu morisawa","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":"https://orcid.org/0000-0003-0056-4335","affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039123647","display_name":"Rafael Cisneros","orcid":"https://orcid.org/0000-0002-0850-070X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rafael Cisneros","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046914866","display_name":"Iori Kumagai","orcid":"https://orcid.org/0000-0003-4204-4282"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Iori Kumagai","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006252575","display_name":"Adrien Escande","orcid":"https://orcid.org/0000-0003-3844-7986"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Adrien Escande","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1, Umezono, Tsukuba, Ibaraki 305-8560, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014473932"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.1993,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.52939471,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"17","issue":"01","first_page":"2050003","last_page":"2050003"},"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/T12290","display_name":"Human Motion and Animation","score":0.9919000267982483,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9908999800682068,"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":0.7449133992195129},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6540618538856506},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6380835175514221},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.5614120364189148},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5612455606460571},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5158802270889282},{"id":"https://openalex.org/keywords/synchronizing","display_name":"Synchronizing","score":0.509598970413208},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5032498240470886},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4708007574081421},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.457526296377182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4230915904045105},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.4198242425918579},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.2991175651550293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.20105400681495667},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12147867679595947},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11742740869522095},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11293348670005798}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7449133992195129},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6540618538856506},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6380835175514221},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.5614120364189148},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5612455606460571},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5158802270889282},{"id":"https://openalex.org/C162932704","wikidata":"https://www.wikidata.org/wiki/Q1058791","display_name":"Synchronizing","level":3,"score":0.509598970413208},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5032498240470886},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4708007574081421},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.457526296377182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4230915904045105},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.4198242425918579},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2991175651550293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.20105400681495667},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12147867679595947},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11742740869522095},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11293348670005798},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843620500036","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843620500036","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W1969752069","https://openalex.org/W1980151151","https://openalex.org/W1987580649","https://openalex.org/W2033480951","https://openalex.org/W2063641920","https://openalex.org/W2074042377","https://openalex.org/W2074473514","https://openalex.org/W2097323016","https://openalex.org/W2099684186","https://openalex.org/W2118840382","https://openalex.org/W2120693140","https://openalex.org/W2123719714","https://openalex.org/W2130117525","https://openalex.org/W2149407815","https://openalex.org/W2202725678","https://openalex.org/W2205656927","https://openalex.org/W2211080258","https://openalex.org/W2294646437","https://openalex.org/W2335044248","https://openalex.org/W2477962321","https://openalex.org/W2543545354","https://openalex.org/W2545425704","https://openalex.org/W2564178275","https://openalex.org/W2569763019","https://openalex.org/W2885090687","https://openalex.org/W2911635807","https://openalex.org/W2913971027","https://openalex.org/W3003272760"],"related_works":["https://openalex.org/W2021225188","https://openalex.org/W2129754669","https://openalex.org/W3012534254","https://openalex.org/W2258773704","https://openalex.org/W4225006828","https://openalex.org/W2600116237","https://openalex.org/W4313056043","https://openalex.org/W2177600158","https://openalex.org/W2046636826","https://openalex.org/W1525008876"],"abstract_inverted_index":{"This":[0,145],"paper":[1],"proposes":[2],"a":[3,30,40,53,59,80,98,171,179,183,202],"new":[4],"framework":[5,17],"to":[6,43,96,102,125,149,194],"generate":[7,97],"3D":[8,60],"multi-contact":[9,180],"locomotion":[10,105,181],"with":[11,39,87,127,131],"low":[12],"computation":[13,55],"cost.":[14],"The":[15,92,156],"proposed":[16,93,160],"consists":[18],"of":[19,23,52,119,141,153,158,211],"(a)":[20],"the":[21,24,44,50,66,84,88,104,116,128,132,138,142,151,154,159,176],"derivation":[22],"prospect":[25],"centroidal":[26,85],"dynamics":[27,86],"by":[28,79,134,164],"introducing":[29],"force":[31,81],"distribution":[32,82],"ratio,":[33],"where":[34],"it":[35],"can":[36,76,122,146],"be":[37,77,123,147],"represented":[38],"formulation":[41],"similar":[42],"inverted":[45],"pendulum\u2019s":[46],"one,":[47],"and":[48,101,187,213],"(b)":[49],"development":[51],"fast":[54],"method":[56,94,161],"for":[57],"generating":[58],"center-of-mass":[61],"(CoM)":[62],"trajectory.":[63],"Then":[64],"(c)":[65],"ZMP":[67],"reference":[68],"is":[69,162],"modified":[70],"so":[71],"that":[72],"feasible":[73],"contact":[74,117,130,177],"wrench":[75],"generated":[78],"using":[83,205],"approximated":[89],"friction":[90],"cone.":[91],"allows":[95],"trajectory":[99],"sequentially":[100],"change":[103],"parameters":[106],"at":[107],"any":[108],"time":[109],"even":[110],"under":[111],"variable":[112],"CoM":[113,172],"height.":[114],"Then,":[115],"timing":[118],"each":[120],"end-effector":[121],"adjusted":[124],"synchronize":[126],"actual":[129],"environment":[133],"shortening":[135],"or":[136],"extending":[137],"desired":[139],"duration":[140],"support":[143],"phase.":[144],"used":[148],"improve":[150],"robustness":[152],"locomotion.":[155],"validity":[157],"confirmed":[163],"several":[165],"numerical":[166],"results":[167],"in":[168],"dynamic":[169,209],"simulator:":[170],"motion":[173],"while":[174],"changing":[175],"timing,":[178],"considering":[182],"transition":[184],"between":[185],"biped":[186],"quadruped":[188],"walking":[189],"on":[190],"an":[191],"horizontal":[192],"floor":[193],"move":[195],"below":[196],"obstacles.":[197],"Finally,":[198],"we":[199],"also":[200],"show":[201],"climbing":[203],"stairs":[204],"handrail":[206],"which":[207],"requires":[208],"changes":[210],"unilateral":[212],"bilateral":[214],"contacts.":[215]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
