{"id":"https://openalex.org/W2006963500","doi":"https://doi.org/10.1177/02783640022066932","title":"Gait Optimization through Search","display_name":"Gait Optimization through Search","publication_year":2000,"publication_date":"2000-04-01","ids":{"openalex":"https://openalex.org/W2006963500","doi":"https://doi.org/10.1177/02783640022066932","mag":"2006963500"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066932","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066932","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5055706178","display_name":"Prabir Pal","orcid":"https://orcid.org/0000-0002-7356-2587"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Prabir K. Pal","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5111635331","display_name":"Dayal Chand Kar","orcid":null},"institutions":[{"id":"https://openalex.org/I1329621470","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17","country_code":"IN","type":"facility","lineage":["https://openalex.org/I1329621470","https://openalex.org/I2799351866","https://openalex.org/I3149292468"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Dayal C. Kar","raw_affiliation_strings":["Division of Remote Handling and Robotics, Bhabha Atomic Research Centre,                         Mumbai 400085, India","Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre,                         Mumbai 400085, India","institution_ids":["https://openalex.org/I1329621470"]},{"raw_affiliation_string":"Division of Remote Handling and Robotics, Bhabha Atomic Research Centre, Mumbai 400085, India","institution_ids":["https://openalex.org/I1329621470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5055706178"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3712,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.62825223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"19","issue":"4","first_page":"394","last_page":"408"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9758999943733215,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.8312346935272217},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5772256255149841},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5588607788085938},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5386139750480652},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.515559196472168},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4725092351436615},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4319304823875427},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4101082682609558},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.392103374004364},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.21603122353553772},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20843857526779175},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.15134096145629883},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13474643230438232}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8312346935272217},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5772256255149841},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5588607788085938},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5386139750480652},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.515559196472168},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4725092351436615},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4319304823875427},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4101082682609558},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.392103374004364},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.21603122353553772},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20843857526779175},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.15134096145629883},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13474643230438232},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/02783640022066932","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066932","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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":20,"referenced_works":["https://openalex.org/W80853922","https://openalex.org/W1525953829","https://openalex.org/W1553214668","https://openalex.org/W1646038686","https://openalex.org/W1670969129","https://openalex.org/W1997538124","https://openalex.org/W2012752411","https://openalex.org/W2050284651","https://openalex.org/W2056821371","https://openalex.org/W2066936651","https://openalex.org/W2075301351","https://openalex.org/W2091947414","https://openalex.org/W2096737041","https://openalex.org/W2128908713","https://openalex.org/W2137824712","https://openalex.org/W2152475379","https://openalex.org/W2514543096","https://openalex.org/W3021035068","https://openalex.org/W6637320229","https://openalex.org/W6682302528"],"related_works":["https://openalex.org/W3141840228","https://openalex.org/W1992273876","https://openalex.org/W4206661479","https://openalex.org/W3134497028","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2390631805","https://openalex.org/W2964616099","https://openalex.org/W3042389473"],"abstract_inverted_index":{"We":[0,31,111],"present":[1],"a":[2,9,14,42,58,70,74,85,98,105,154],"search-based":[3],"method":[4,146],"for":[5,46,93],"the":[6,28,33,38,51,102,108,122,127,130,135,144],"generation":[7],"of":[8,13,37,48,53,104,157],"terrain-adaptive":[10],"optimal":[11],"gait":[12,72,86],"six-legged":[15],"walking":[16],"machine.":[17],"In":[18],"this,":[19],"several":[20],"heuristic":[21],"rules":[22],"have":[23,112],"been":[24],"proposed":[25,145],"to":[26,44,56,67,81,120,141,153],"reduce":[27],"search":[29,76,109],"effort.":[30],"identify":[32],"useful":[34],"support":[35],"states":[36,50,55],"machine":[39],"and":[40,68,88,134,150],"form":[41],"table":[43],"indicate":[45],"each":[47],"these":[49],"list":[52],"other":[54],"which":[57],"transition":[59],"can":[60,151],"be":[61,118],"made.":[62],"This":[63],"helps":[64],"in":[65,107],"converging":[66],"maintaining":[69],"periodic":[71,124],"through":[73],"limited":[75],"while":[77],"retaining":[78],"adequate":[79],"options":[80],"deviate":[82],"from":[83],"such":[84],"as":[87],"when":[89],"needed.":[90],"The":[91,138],"criterion":[92],"optimization":[94],"is":[95,140,147],"coded":[96],"into":[97],"function":[99,116],"that":[100,143],"evaluates":[101],"promise":[103],"node":[106],"graph.":[110],"shown":[113],"how":[114],"this":[115],"may":[117],"designed":[119],"generate":[121],"common":[123],"gaits":[125],"like":[126],"wave":[128],"gait,":[129,133],"equal":[131],"phase":[132],"follow-the-leader":[136],"gait.":[137],"purpose":[139],"demonstrate":[142],"sufficiently":[148],"general":[149],"cater":[152],"wide":[155],"range":[156],"optimizing":[158],"requirements.":[159]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-03T06:03:33.228499","created_date":"2025-10-10T00:00:00"}
