{"id":"https://openalex.org/W2046458121","doi":"https://doi.org/10.2316/journal.206.2010.4.206-3240","title":"POLYNOMIAL TRAJECTORY ALGORITHM FOR A BIPED ROBOT","display_name":"POLYNOMIAL TRAJECTORY ALGORITHM FOR A BIPED ROBOT","publication_year":2010,"publication_date":"2010-01-01","ids":{"openalex":"https://openalex.org/W2046458121","doi":"https://doi.org/10.2316/journal.206.2010.4.206-3240","mag":"2046458121"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2010.4.206-3240","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2010.4.206-3240","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=41749","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"http://actapress.com/pdfviewer.aspx?paperID=41749","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5000506517","display_name":"Erik Cuevas","orcid":"https://orcid.org/0000-0002-0358-6049"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I75951250","display_name":"Freie Universit\u00e4t Berlin","ror":"https://ror.org/046ak2485","country_code":"DE","type":"education","lineage":["https://openalex.org/I75951250"]}],"countries":["DE","MX"],"is_corresponding":false,"raw_author_name":"Erik Cuevas","raw_affiliation_strings":["CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico","Institut fr Informatik, Freie Universitt Berlin Takustr. 9, 14195 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico","institution_ids":["https://openalex.org/I193181351"]},{"raw_affiliation_string":"Institut fr Informatik, Freie Universitt Berlin Takustr. 9, 14195 Berlin, Germany","institution_ids":["https://openalex.org/I75951250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034988029","display_name":"Daniel Zald\u00edvar","orcid":"https://orcid.org/0000-0002-4358-6182"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I75951250","display_name":"Freie Universit\u00e4t Berlin","ror":"https://ror.org/046ak2485","country_code":"DE","type":"education","lineage":["https://openalex.org/I75951250"]}],"countries":["DE","MX"],"is_corresponding":false,"raw_author_name":"Daniel Zaldivar","raw_affiliation_strings":["CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico","Institut fr Informatik, Freie Universitt Berlin Takustr. 9, 14195 Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico","institution_ids":["https://openalex.org/I193181351"]},{"raw_affiliation_string":"Institut fr Informatik, Freie Universitt Berlin Takustr. 9, 14195 Berlin, Germany","institution_ids":["https://openalex.org/I75951250"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014788518","display_name":"Marco A. Perez","orcid":null},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Marco P\u00e9rez-Cisneros","raw_affiliation_strings":["CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CUCEI, Universidad de Guadalajara Av. Revolucion 1500,C.P. 44430 Guadalajara, Jal., Mexico","institution_ids":["https://openalex.org/I193181351"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074007140","display_name":"Marte Ramirez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marte Ram\u00edrez-Orteg\u00f3n","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.11072952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"25","issue":"4","first_page":null,"last_page":null},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9641000032424927,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9523000121116638,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7260133624076843},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7135286927223206},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5763698816299438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.560689389705658},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.5389606952667236},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4913715422153473},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.46200841665267944},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.4446631968021393},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.42883387207984924},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4176165759563446},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4011683166027069},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2808606028556824},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.2214006781578064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22010120749473572}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7260133624076843},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7135286927223206},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5763698816299438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.560689389705658},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.5389606952667236},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4913715422153473},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.46200841665267944},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.4446631968021393},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.42883387207984924},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4176165759563446},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4011683166027069},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2808606028556824},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2214006781578064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22010120749473572},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.2316/journal.206.2010.4.206-3240","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2010.4.206-3240","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=41749","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1405.5937","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1405.5937","pdf_url":"https://arxiv.org/pdf/1405.5937","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2046458121","is_oa":true,"landing_page_url":"https://arxiv.org/pdf/1405.5937.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1405.5937","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1405.5937","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.2316/journal.206.2010.4.206-3240","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2010.4.206-3240","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=41749","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2046458121.pdf","grobid_xml":"https://content.openalex.org/works/W2046458121.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W1485447451","https://openalex.org/W1504362584","https://openalex.org/W1941521555","https://openalex.org/W1958483735","https://openalex.org/W1990060767","https://openalex.org/W2000680346","https://openalex.org/W2017888353","https://openalex.org/W2028456985","https://openalex.org/W2057892472","https://openalex.org/W2061914803","https://openalex.org/W2071579643","https://openalex.org/W2085746528","https://openalex.org/W2096683612","https://openalex.org/W2104963352","https://openalex.org/W2107063340","https://openalex.org/W2108829993","https://openalex.org/W2122903487","https://openalex.org/W2129754669","https://openalex.org/W2133859362","https://openalex.org/W2155145128","https://openalex.org/W2914508454","https://openalex.org/W6998954407"],"related_works":["https://openalex.org/W2963085390","https://openalex.org/W185560341","https://openalex.org/W1987704864","https://openalex.org/W1543256178","https://openalex.org/W2106943223","https://openalex.org/W2125320669","https://openalex.org/W2055379393","https://openalex.org/W2777479953","https://openalex.org/W1586025496","https://openalex.org/W176555866","https://openalex.org/W1982067386","https://openalex.org/W2086164287","https://openalex.org/W781587853","https://openalex.org/W2029068927","https://openalex.org/W2073376065","https://openalex.org/W1994404295","https://openalex.org/W168208965","https://openalex.org/W321756463","https://openalex.org/W3002854967","https://openalex.org/W2793649106"],"abstract_inverted_index":{"Building":[0],"trajectories":[1,123,177],"for":[2,25],"biped":[3,86,130],"robot":[4,131],"walking":[5,36,53,63,84,106,122,147,176],"is":[6,28],"a":[7,41,75,129,154,167],"complex":[8],"task":[9],"considering":[10],"all":[11],"degrees":[12],"of":[13,112,132,153,170],"freedom":[14],"(DOFs)":[15],"commonly":[16,59],"bound":[17],"within":[18],"the":[19,29,45,62,68,83,89,110,171],"mechanical":[20],"structure.":[21],"A":[22],"typical":[23],"problem":[24],"such":[26],"robots":[27,87],"instability":[30],"produced":[31],"by":[32,120],"violent":[33],"transitions":[34,104],"between":[35,94,105],"phases":[37],"in":[38,174],"particular":[39],"when":[40],"swinging":[42],"leg":[43],"impacts":[44],"surface.":[46],"Although":[47],"extensive":[48],"research":[49],"on":[50,85,128],"novel":[51],"efficient":[52],"algorithms":[54],"has":[55,116,136],"been":[56,117],"conducted,":[57],"falls":[58],"appear":[60],"as":[61,67],"speed":[64],"increases":[65],"or":[66],"terrain":[69,126],"condition":[70],"changes.":[71],"This":[72],"paper":[73],"presents":[74],"polynomial":[76,92],"trajectory":[77],"generation":[78],"algorithm":[79,101,115],"(PTA)":[80],"to":[81,138,143,162],"implement":[82],"following":[88],"cubic":[90],"Hermitian":[91],"interpolation":[93],"initial":[95],"and":[96,141,160],"final":[97],"conditions.":[98,181],"The":[99,114],"proposed":[100,172],"allows":[102],"smooth":[103],"phases,":[107],"significantly":[108],"reducing":[109],"possibility":[111],"falling.":[113],"successfully":[118],"tested":[119],"generating":[121,175],"under":[124,178],"different":[125,179],"conditions":[127],"10":[133],"DOFs.":[134],"PTA":[135],"shown":[137],"be":[139],"simple":[140],"suitable":[142],"generate":[144],"real":[145],"time":[146],"trajectories,":[148],"despite":[149],"reduced":[150],"computing":[151],"resources":[152],"commercial":[155],"embedded":[156],"microcontroller.":[157],"Experimental":[158],"evidence":[159],"comparisons":[161],"other":[163],"state-of-the-art":[164],"methods":[165],"demonstrates":[166],"better":[168],"performance":[169],"method":[173],"ground":[180]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}