{"id":"https://openalex.org/W1974878543","doi":"https://doi.org/10.1177/0278364908095171","title":"Efficient Walking Speed Optimization of a Humanoid Robot","display_name":"Efficient Walking Speed Optimization of a Humanoid Robot","publication_year":2009,"publication_date":"2009-01-22","ids":{"openalex":"https://openalex.org/W1974878543","doi":"https://doi.org/10.1177/0278364908095171","mag":"1974878543"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908095171","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908095171","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/A5085516563","display_name":"Thomas Hemker","orcid":"https://orcid.org/0000-0003-3253-5571"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"T. Hemker","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany, -darmstadt.de"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany, -darmstadt.de","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111671846","display_name":"Maximilian Stelzer","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Stelzer","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014799780","display_name":"Oskar von Stryk","orcid":"https://orcid.org/0000-0002-2790-6115"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"O. von Stryk","raw_affiliation_strings":["Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073009204","display_name":"Hajime Sakamoto","orcid":"https://orcid.org/0000-0001-6938-3191"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"H. Sakamoto","raw_affiliation_strings":["Hajime Research Institute Ltd. 5-6-21 Higashi Nakajima Higashi Yodogawa-ku, Osaka 533-0033, Japan","Hajime Research Institute Ltd. 5-6-21 Higashi NakajimaHigashi Yodogawa-ku, Osaka 533-0033, Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hajime Research Institute Ltd. 5-6-21 Higashi Nakajima Higashi Yodogawa-ku, Osaka 533-0033, Japan","institution_ids":[]},{"raw_affiliation_string":"Hajime Research Institute Ltd. 5-6-21 Higashi NakajimaHigashi Yodogawa-ku, Osaka 533-0033, Japan#TAB#","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5085516563"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":2.4733,"has_fulltext":false,"cited_by_count":39,"citation_normalized_percentile":{"value":0.87869993,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"28","issue":"2","first_page":"303","last_page":"314"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9943000078201294,"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":0.9943000078201294,"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/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"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/T10621","display_name":"Gene Regulatory Network Analysis","score":0.9560999870300293,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.873522162437439},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6020492315292358},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.6012471914291382},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705537796020508},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5534670948982239},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5391569137573242},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5094402432441711},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.505990207195282},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4561268091201782},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4519408345222473},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.4350987672805786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4226579964160919},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35570192337036133},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17210468649864197},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1092565655708313},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07596933841705322}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.873522162437439},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6020492315292358},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.6012471914291382},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705537796020508},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5534670948982239},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5391569137573242},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5094402432441711},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.505990207195282},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4561268091201782},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4519408345222473},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4350987672805786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4226579964160919},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35570192337036133},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17210468649864197},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1092565655708313},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07596933841705322},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364908095171","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908095171","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"},{"id":"pmh:oai:tubiblio.ulb.tu-darmstadt.de:99087","is_oa":false,"landing_page_url":"http://tubiblio.ulb.tu-darmstadt.de/99087/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196390","display_name":"TUbilio (Technical University of Darmstadt)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I31512782","host_organization_name":"Technische Universit\u00e4t Darmstadt","host_organization_lineage":["https://openalex.org/I31512782"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Artikel"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W44390635","https://openalex.org/W78437532","https://openalex.org/W112653965","https://openalex.org/W1506962395","https://openalex.org/W1510052597","https://openalex.org/W1596568669","https://openalex.org/W1695563742","https://openalex.org/W1970101292","https://openalex.org/W1976519552","https://openalex.org/W1979102995","https://openalex.org/W1998767775","https://openalex.org/W1999024797","https://openalex.org/W2009420080","https://openalex.org/W2024697317","https://openalex.org/W2044458183","https://openalex.org/W2054875385","https://openalex.org/W2079497341","https://openalex.org/W2098402081","https://openalex.org/W2102551313","https://openalex.org/W2104202634","https://openalex.org/W2123073527","https://openalex.org/W2125098583","https://openalex.org/W2139053308","https://openalex.org/W2154200048","https://openalex.org/W2156677085","https://openalex.org/W2161361919","https://openalex.org/W2171074980","https://openalex.org/W2205821225","https://openalex.org/W2582998992","https://openalex.org/W2587142195","https://openalex.org/W2804926921","https://openalex.org/W3142707146","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W4206704743","https://openalex.org/W2904060783","https://openalex.org/W4313119266","https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2164807043","https://openalex.org/W4231448069"],"abstract_inverted_index":{"The":[0,59],"development":[1],"of":[2,5,23,90,119,153,165],"optimized":[3],"motions":[4],"humanoid":[6,38,145],"robots":[7,26],"that":[8,114],"guarantee":[9],"fast":[10,103],"and":[11,55,95,104],"also":[12],"stable":[13,105],"walking":[14,32,49,77,106,121,137,151],"is":[15,43,61,109],"an":[16,56],"important":[17],"task,":[18],"especially":[19],"in":[20,27,178],"the":[21,37,91,112,130,135,140,166],"context":[22],"autonomous":[24],"soccer-playing":[25],"RoboCup.":[28],"We":[29],"present":[30],"a":[31,46,67,82,102,116,149,162],"motion":[33,138],"optimization":[34,70,78,85,132],"approach":[35,86],"for":[36,101,139],"robot":[39,60],"prototype":[40],"HR18":[41],"which":[42],"equipped":[44],"with":[45],"low-dimensional":[47,68],"parameterized":[48],"trajectory":[50],"generator,":[51],"joint":[52],"motor":[53],"controller":[54],"internal":[57],"stabilization.":[58],"included":[62],"as":[63],"hardware-in-the-loop":[64],"to":[65,74,99,125],"define":[66],"black-box":[69],"problem.":[71],"In":[72],"contrast":[73],"previously":[75],"performed":[76],"approaches,":[79],"we":[80,147],"apply":[81],"sequential":[83,96],"surrogate":[84],"using":[87],"stochastic":[88],"approximation":[89],"underlying":[92],"objective":[93],"function":[94],"quadratic":[97],"programming":[98],"search":[100],"motion.":[107],"This":[108],"done":[110],"under":[111],"conditions":[113],"only":[115],"small":[117],"number":[118],"physical":[120],"experiments":[122],"should":[123],"have":[124],"be":[126,176],"carried":[127],"out":[128],"during":[129],"online":[131],"process.":[133],"For":[134],"identified":[136],"considered":[141],"55":[142],"cm":[143,157,172],"tall":[144],"robot,":[146,167],"measured":[148],"forward":[150],"speed":[152],"more":[154,169],"than":[155,170],"30":[156],"s":[158,173],"-1":[159,174],".":[160],"With":[161],"modified":[163],"version":[164],"even":[168],"40":[171],"could":[175],"achieved":[177],"permanent":[179],"operation.":[180]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
