{"id":"https://openalex.org/W2135855117","doi":"https://doi.org/10.1163/156855307780132063","title":"Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1","display_name":"Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2135855117","doi":"https://doi.org/10.1163/156855307780132063","mag":"2135855117"},"language":"en","primary_location":{"id":"doi:10.1163/156855307780132063","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307780132063","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5016255256","display_name":"Jung-Yup Kim","orcid":"https://orcid.org/0000-0002-0833-1547"},"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":"Jung-Yup Kim","raw_affiliation_strings":["a    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100745071","display_name":"Jungho Lee","orcid":"https://orcid.org/0000-0003-4162-3389"},"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":"Jungho Lee","raw_affiliation_strings":["b    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100891338","display_name":"Jun-Ho Ho","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":false,"raw_author_name":"Jun-Ho Ho","raw_affiliation_strings":["c    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    HUBO Laboratory, Humanoid Robot Research Center, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1 Guseong-dong Yuseong-gu, Daejeon 305-701, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":6.7414,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.97121697,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"21","issue":"3-4","first_page":"461","last_page":"484"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9829000234603882,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9753000140190125,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6233262419700623},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.5726938247680664},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5420407652854919},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5167957544326782},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4814976453781128},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4528560936450958},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42388999462127686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4195680618286133},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4176446497440338},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37474846839904785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20856401324272156},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1548912525177002}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6233262419700623},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.5726938247680664},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5420407652854919},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5167957544326782},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4814976453781128},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4528560936450958},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42388999462127686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4195680618286133},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4176446497440338},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37474846839904785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20856401324272156},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1548912525177002},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1163/156855307780132063","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855307780132063","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.121.2524","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.121.2524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/~cga/legs/Paper_2.pdf","raw_type":"text"},{"id":"pmh:oai:koasas.kaist.ac.kr:10203/968","is_oa":false,"landing_page_url":"http://hdl.handle.net/10203/968","pdf_url":null,"source":{"id":"https://openalex.org/S4306402435","display_name":"KAIST Institutional Repository (KAIST)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157485424","host_organization_name":"Korea Advanced Institute of Science and Technology","host_organization_lineage":["https://openalex.org/I157485424"],"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":[{"score":0.6000000238418579,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322638","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1964320995","https://openalex.org/W1974945435","https://openalex.org/W2096291722","https://openalex.org/W2133859362","https://openalex.org/W2138671676","https://openalex.org/W2148338288","https://openalex.org/W2153809618","https://openalex.org/W2158678516","https://openalex.org/W2539314278","https://openalex.org/W2540393540","https://openalex.org/W2542370644"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2315566320"],"abstract_inverted_index":{"This":[0,189],"paper":[1],"describes":[2],"a":[3,27,30,44,59,71,82,101,120,126,197,202,217,222],"control":[4,244],"strategy":[5,245],"of":[6,21,43,58,64,73,100,111,140,152,160,196,240,253],"the":[7,11,49,56,98,112,135,138,141,150,161,179,194,214,231,238,241,254],"stable":[8,218,250],"walking":[9,50,220,224,252],"for":[10],"human-riding":[12,255],"biped":[13,219,256],"robot,":[14,257],"HUBO":[15,17,39,153,166,258],"FX-1.":[16],"FX-1":[18,40,154,167],"largely":[19],"consists":[20],"two":[22,92],"legs":[23],"with":[24,216],"12":[25],"d.o.f.,":[26],"pelvis":[28],"and":[29,46,52,125,137,201,226,249],"cockpit.":[31],"A":[32,85],"normal":[33],"adult":[34],"can":[35,47,88],"easily":[36],"ride":[37],"on":[38,207,230],"by":[41,91],"means":[42],"foothold,":[45],"change":[48],"direction":[51],"speed":[53],"continuously":[54],"through":[55,97,108,193],"use":[57,195],"joystick.":[60],"Principally,":[61],"this":[62,187],"kind":[63],"robot":[65,113,215],"must":[66],"be":[67,89],"able":[68,170],"to":[69,80,171,175,186,212],"carry":[70,81],"payload":[72,87],"at":[74],"least":[75],"100":[76],"kg":[77],"in":[78],"order":[79,211],"person":[83],"easily.":[84],"sufficient":[86],"accomplished":[90],"ways.":[93],"The":[94,105,158],"first":[95],"is":[96,107,155,164],"choice":[99],"highly":[102],"efficient":[103,118],"actuator.":[104],"second":[106],"weight":[109,151,162],"reduction":[110,130,163,204],"body":[114,143,180],"frames.":[115],"As":[116],"an":[117],"actuator,":[119],"high-power":[121],"AC":[122],"servo":[123],"motor":[124],"backlash-free":[127],"harmonic":[128],"drive":[129],"gear":[131],"were":[132,145,235],"utilized.":[133],"Furthermore,":[134],"thickness":[136],"size":[139],"aluminum":[142],"frames":[144],"sufficiently":[146],"reduced":[147],"so":[148],"that":[149,165],"light":[156],"enough.":[157],"disadvantage":[159],"was":[168,191,246,263],"not":[169],"walk":[172],"stably":[173],"due":[174,185],"structural":[176],"vibrations,":[177],"as":[178],"structures":[181],"become":[182],"more":[183],"flexible":[184],"procedure.":[188],"problem":[190],"solved":[192],"simple":[198],"theoretical":[199],"model":[200],"vibration":[203],"controller":[205],"based":[206,229],"sensory":[208,233],"feedback.":[209],"In":[210],"endow":[213],"capability,":[221],"standard":[223],"pattern":[225],"online":[227],"controllers":[228],"real-time":[232,242],"feedback":[234],"designed.":[236],"Finally,":[237],"performance":[239],"balance":[243],"experimentally":[247],"verified":[248],"dynamic":[251],"FX-1,":[259],"carrying":[260],"one":[261],"passenger":[262],"realized.":[264]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-13T06:13:01.061226","created_date":"2025-10-10T00:00:00"}