{"id":"https://openalex.org/W4401759974","doi":"https://doi.org/10.3390/robotics13080123","title":"Experimental Validation of the Essential Model for a Complete Walking Gait with the NAO Robot","display_name":"Experimental Validation of the Essential Model for a Complete Walking Gait with the NAO Robot","publication_year":2024,"publication_date":"2024-08-22","ids":{"openalex":"https://openalex.org/W4401759974","doi":"https://doi.org/10.3390/robotics13080123"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13080123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080123","pdf_url":"https://www.mdpi.com/2218-6581/13/8/123/pdf?version=1724318874","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/8/123/pdf?version=1724318874","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5092128791","display_name":"Emanuel M\u00e1rquez-Acosta","orcid":"https://orcid.org/0009-0001-0729-7279"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"Emanuel Marquez-Acosta","raw_affiliation_strings":["Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico"],"raw_orcid":"https://orcid.org/0009-0001-0729-7279","affiliations":[{"raw_affiliation_string":"Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469","https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067739928","display_name":"V\u00edctor De-Le\u00f3n-G\u00f3mez","orcid":"https://orcid.org/0000-0001-7250-5073"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Victor De-Le\u00f3n-G\u00f3mez","raw_affiliation_strings":["Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico"],"raw_orcid":"https://orcid.org/0000-0001-7250-5073","affiliations":[{"raw_affiliation_string":"Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469","https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007101144","display_name":"V\u00edctor Santib\u00e1\u00f1ez","orcid":"https://orcid.org/0000-0002-0870-8615"},"institutions":[{"id":"https://openalex.org/I4210090124","display_name":"Tecnol\u00f3gico Nacional de M\u00e9xico","ror":"https://ror.org/00davry38","country_code":"MX","type":"government","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4405258672"]},{"id":"https://openalex.org/I4210095469","display_name":"Instituto Tecn\u00f3logico de La Laguna","ror":"https://ror.org/00xbw4a70","country_code":"MX","type":"education","lineage":["https://openalex.org/I1302736544","https://openalex.org/I4210090124","https://openalex.org/I4210095469","https://openalex.org/I4405258672"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Victor Santiba\u00f1ez","raw_affiliation_strings":["Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico"],"raw_orcid":"https://orcid.org/0000-0002-0870-8615","affiliations":[{"raw_affiliation_string":"Tecnol\u00f3gico Nacional de M\u00e9xico/I.T. La Laguna, Divisi\u00f3n de Estudios de Posgrado e Investigaci\u00f3n, Blvd. Revoluci\u00f3n y Cuahut\u00e9moc S/N, Torre\u00f3n C.P. 27000, Coahuila, Mexico","institution_ids":["https://openalex.org/I4210095469","https://openalex.org/I4210090124"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053183805","display_name":"Christine Chevallereau","orcid":"https://orcid.org/0000-0002-1929-5211"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christine Chevallereau","raw_affiliation_strings":["Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), UMR CNRS 6004, 1 rue de la Noe, 44300 Nantes, France"],"raw_orcid":"https://orcid.org/0000-0002-1929-5211","affiliations":[{"raw_affiliation_string":"Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), UMR CNRS 6004, 1 rue de la Noe, 44300 Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yannick Aoustin","raw_affiliation_strings":["Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), UMR CNRS 6004, 1 rue de la Noe, 44300 Nantes, France"],"raw_orcid":"https://orcid.org/0000-0002-3484-117X","affiliations":[{"raw_affiliation_string":"Laboratoire des Sciences du Num\u00e9rique de Nantes (LS2N), UMR CNRS 6004, 1 rue de la Noe, 44300 Nantes, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5092128791"],"corresponding_institution_ids":["https://openalex.org/I4210090124","https://openalex.org/I4210095469"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.3032,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52035948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"13","issue":"8","first_page":"123","last_page":"123"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9940999746322632,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9818000197410583,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7346848249435425},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6709776520729065},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6384556293487549},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5693840980529785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5260524749755859},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5188923478126526},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.48778659105300903},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.45021679997444153},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.43577373027801514},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42893266677856445},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38948848843574524},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3240121006965637},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.2943369746208191},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2624683976173401},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10806718468666077},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09571957588195801},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08225399255752563}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7346848249435425},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6709776520729065},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6384556293487549},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5693840980529785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5260524749755859},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5188923478126526},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.48778659105300903},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.45021679997444153},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.43577373027801514},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42893266677856445},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38948848843574524},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3240121006965637},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2943369746208191},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2624683976173401},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10806718468666077},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09571957588195801},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08225399255752563},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics13080123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080123","pdf_url":"https://www.mdpi.com/2218-6581/13/8/123/pdf?version=1724318874","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-05070025v1","is_oa":true,"landing_page_url":"https://hal.science/hal-05070025","pdf_url":"https://hal.science/hal-05070025/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, 2024, 13 (8), pp.123. ⟨10.3390/robotics13080123⟩","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:01d2fc73b1534767ace57f1158294ab9","is_oa":false,"landing_page_url":"https://doaj.org/article/01d2fc73b1534767ace57f1158294ab9","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 8, p 123 (2024)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/13/8/123/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics13080123","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics13080123","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13080123","pdf_url":"https://www.mdpi.com/2218-6581/13/8/123/pdf?version=1724318874","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401759974.pdf","grobid_xml":"https://content.openalex.org/works/W4401759974.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W1556896368","https://openalex.org/W1661970104","https://openalex.org/W1979070052","https://openalex.org/W1989901771","https://openalex.org/W1994275787","https://openalex.org/W2008342119","https://openalex.org/W2035653862","https://openalex.org/W2056162637","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2085547792","https://openalex.org/W2099755684","https://openalex.org/W2102712550","https://openalex.org/W2116310395","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2143729862","https://openalex.org/W2155658243","https://openalex.org/W2413990562","https://openalex.org/W2465284394","https://openalex.org/W2509995583","https://openalex.org/W2539534359","https://openalex.org/W2737825825","https://openalex.org/W2755682944","https://openalex.org/W2761235830","https://openalex.org/W2903009352","https://openalex.org/W2966463142","https://openalex.org/W2972798201","https://openalex.org/W2998133787","https://openalex.org/W3010710123","https://openalex.org/W3119780098","https://openalex.org/W3215841462","https://openalex.org/W4309043080"],"related_works":["https://openalex.org/W2138228021","https://openalex.org/W962423920","https://openalex.org/W2259616189","https://openalex.org/W2387968248","https://openalex.org/W2373921823","https://openalex.org/W2129754669","https://openalex.org/W2600116237","https://openalex.org/W2004752792","https://openalex.org/W4313056043","https://openalex.org/W2799562489"],"abstract_inverted_index":{"In":[0],"this":[1,187],"paper,":[2],"for":[3],"the":[4,16,28,31,38,52,71,80,86,95,105,112,119,123,127,132,140,148,151,164,173,191,194],"first":[5],"time,":[6],"experimental":[7],"tests":[8],"of":[9,30,40,82,150,163,166,172,193],"complete":[10],"offline":[11,128],"walking":[12,83],"gaits":[13,48,202],"generated":[14,130],"by":[15,99,131],"essential":[17,113,141,152,195],"model":[18,22,110,114,196],"are":[19,49,60,74,89],"performed.":[20],"This":[21],"does":[23,137],"not":[24,138],"make":[25],"simplifications":[26],"in":[27,51,64,85,118,144,177],"dynamics":[29],"robot,":[32,54],"and":[33,57,66,68,111,168],"its":[34],"main":[35],"advantage":[36],"is":[37,115,157,183,203],"definition":[39],"desired":[41],"Zero":[42],"Moment":[43],"Point":[44],"trajectories.":[45],"The":[46],"designed":[47,158],"implemented":[50],"NAO":[53,87],"where":[55],"starting":[56],"stopping":[58],"stages":[59],"also":[61,116],"included.":[62],"Simulations":[63],"MATLAB":[65],"Webots,":[67],"experiments":[69],"with":[70,94,139,159],"real":[72],"robot":[73,88,124],"shown.":[75],"Also,":[76],"important":[77],"remarks":[78],"about":[79],"implementation":[81],"trajectories":[84],"included,":[90],"such":[91],"as":[92],"dealing":[93],"hip":[96],"joint":[97],"shared":[98],"both":[100],"legs.":[101],"A":[102],"comparison":[103],"between":[104],"linear":[106],"inverted":[107],"pendulum":[108],"(LIP)":[109],"addressed":[117],"experiments.":[120],"As":[121,175],"expected,":[122],"fails":[125],"following":[126],"gait":[129,156],"LIP":[133],"model,":[134,153],"but":[135],"it":[136],"model.":[142],"Moreover,":[143],"order":[145],"to":[146,185,197],"push":[147],"boundaries":[149],"a":[154,160],"complex":[155,188,201],"vertical":[161],"motion":[162],"center":[165],"mass":[167],"an":[169],"abrupt":[170],"movement":[171],"arms.":[174],"shown":[176],"experiments,":[178],"no":[179],"external":[180],"balance":[181],"controller":[182],"required":[184],"perform":[186],"gait.":[189],"Thus,":[190],"efficiency":[192],"design":[198],"stable":[199],"open-loop":[200],"verified.":[204]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}