{"id":"https://openalex.org/W2787342619","doi":"https://doi.org/10.1109/iccis.2017.8274780","title":"Walking trajectory generation for a 3D printing biped robot based on human natural gait and ZMP criteria","display_name":"Walking trajectory generation for a 3D printing biped robot based on human natural gait and ZMP criteria","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2787342619","doi":"https://doi.org/10.1109/iccis.2017.8274780","mag":"2787342619"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5100338728","display_name":"Ping Wang","orcid":"https://orcid.org/0000-0003-2963-9476"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ping Wang","raw_affiliation_strings":["Chang'an University, Xian, Shanxi, CN","School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Chang'an University, Xian, Shanxi, CN","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046313825","display_name":"Yabo Wang","orcid":"https://orcid.org/0000-0001-8925-5277"},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yabo Wang","raw_affiliation_strings":["Chang'an University, Xian, Shanxi, CN","School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Chang'an University, Xian, Shanxi, CN","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China","institution_ids":["https://openalex.org/I25355098"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102150398","display_name":"Feng Ru","orcid":null},"institutions":[{"id":"https://openalex.org/I25355098","display_name":"Chang'an University","ror":"https://ror.org/05mxya461","country_code":"CN","type":"education","lineage":["https://openalex.org/I25355098"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Ru","raw_affiliation_strings":["Chang'an University, Xian, Shanxi, CN","School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Chang'an University, Xian, Shanxi, CN","institution_ids":["https://openalex.org/I25355098"]},{"raw_affiliation_string":"School of Electronic and Control Engineering, CHANG'AN UNIVERSITY, Xi'an, China","institution_ids":["https://openalex.org/I25355098"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.764,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":4,"citation_normalized_percentile":{"value":0.629455,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":78,"max":80},"biblio":{"volume":null,"issue":null,"first_page":"237","last_page":"242"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":1.0,"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":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":1.0,"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":"Lower Limb Exoskeleton Robotics","score":0.9969,"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":"Advancements in Soil Mechanics and Terrain Interaction","score":0.9701,"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/zero-moment-point","display_name":"Zero moment point","score":0.8759538},{"id":"https://openalex.org/keywords/dynamic-walking","display_name":"Dynamic Walking","score":0.557699},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5111523},{"id":"https://openalex.org/keywords/passive-dynamic-walkers","display_name":"Passive-Dynamic Walkers","score":0.510673}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8759538},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.809005},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7563126},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6840499},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.68066204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6001721},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5111523},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49440145},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42104775},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42063212},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38519692},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38122296},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3320707},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2929624},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11584625},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07039049},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274780","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"No poverty","id":"https://metadata.un.org/sdg/1","score":0.53}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":11,"referenced_works":["https://openalex.org/W2101995592","https://openalex.org/W2105279695","https://openalex.org/W2133859362","https://openalex.org/W2138645017","https://openalex.org/W2138896616","https://openalex.org/W2142992961","https://openalex.org/W2151182239","https://openalex.org/W2331758694","https://openalex.org/W2436002435","https://openalex.org/W2914508454","https://openalex.org/W57937107"],"related_works":["https://openalex.org/W2606527650","https://openalex.org/W2368185326","https://openalex.org/W2170918662","https://openalex.org/W2168647525","https://openalex.org/W2163503851","https://openalex.org/W2151003079","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2120357486","https://openalex.org/W1829175078"],"abstract_inverted_index":{"With":[0],"development":[1],"of":[2,32,68,116,124],"3D":[3,135],"printing":[4,136],"technology,":[5],"making":[6],"a":[7],"customized":[8,24],"robot":[9,76],"is":[10,30,41,50,87,130],"more":[11],"fast":[12],"and":[13,79,95,120],"easy.":[14],"In":[15,35],"order":[16],"to":[17,52,56,112],"adapted":[18],"various":[19],"walking":[20,84,128],"patterns":[21],"for":[22],"the":[23,33,58,62,75,91,109,114,125,134],"biped":[25,137],"robot,":[26],"mimic":[27],"human":[28,38,48,92],"gait":[29,40,94,104,122],"one":[31],"solutions.":[34],"this":[36],"paper,":[37],"natural":[39,93],"firstly":[42],"obtained":[43],"by":[44],"video":[45],"system.":[46],"The":[47,101],"body":[49],"modeled":[51],"use":[53],"kinematic":[54],"equations":[55],"find":[57],"joint":[59,71,118],"angle":[60,72],"from":[61],"captured":[63,70],"trajectory.":[64],"However,":[65],"direct":[66],"application":[67],"those":[69],"data":[73],"into":[74],"presents":[77],"unnatural":[78],"poor":[80],"balance.":[81],"An":[82],"improved":[83],"trajectory":[85,123],"algorithm":[86],"proposed":[88],"based":[89],"on":[90,108,133],"ZMP":[96],"(zero":[97],"moment":[98],"point)":[99],"criteria.":[100],"generated":[102],"new":[103],"trajectories":[105],"are":[106],"tested":[107],"simulation":[110],"model":[111],"get":[113],"stability":[115],"each":[117],"movement":[119],"generate":[121],"robot.":[126,138],"Adapted":[127],"pattern":[129],"successfully":[131],"applied":[132]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2787342619","counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2024-11-22T16:20:05.502146","created_date":"2018-02-23"}