{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T18:29:09Z","timestamp":1767637749205,"version":"3.48.0"},"reference-count":21,"publisher":"Maximum Academic Press","license":[{"start":{"date-parts":[[2016,9,9]],"date-time":"2016-09-09T00:00:00Z","timestamp":1473379200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The Knowledge Engineering Review"],"published-print":{"date-parts":[[2017]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>This paper presents a parameterized gait generator based on linear inverted\n                    pendulum model (LIPM) theory, which allows users to generate a natural gait\n                    pattern with desired step sizes. Five types of zero moment point (ZMP)\n                    components are proposed for formulating a natural ZMP reference, where ZMP moves\n                    continuously during single support phases instead of staying at a fixed point in\n                    the sagittal and lateral plane. The corresponding center of mass (CoM)\n                    trajectories for these components are derived by LIPM theory. To generate a\n                    parameterized gait pattern with user-defined parameters, a gait planning\n                    algorithm is proposed, which determines related coefficients and boundary\n                    conditions of the CoM trajectory for each step. The proposed parameterized gait\n                    generator also provides a concept for users to generate gait patterns with\n                    self-defined ZMP references by using different components. Finally, the\n                    feasibility of the proposed method is validated by the experimental results with\n                    a teen-sized humanoid robot, David, which won first place in the sprint event at\n                    the 20th Federation of International Robot-soccer Association (FIRA) RoboWorld\n                    Cup.<\/jats:p>","DOI":"10.1017\/s0269888916000138","type":"journal-article","created":{"date-parts":[[2016,9,9]],"date-time":"2016-09-09T02:01:10Z","timestamp":1473386470000},"source":"Crossref","is-referenced-by-count":7,"title":["Parameterized gait pattern generator based on linear inverted\n                    pendulum model with natural ZMP references"],"prefix":"10.48130","volume":"32","author":[{"given":"Ya-Fang","family":"Ho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tzuu-Hseng S.","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ping-Huan","family":"Kuo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yan-Ting","family":"Ye","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"27968","published-online":{"date-parts":[[2016,9,9]]},"reference":[{"key":"S0269888916000138_ref10","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20045007"},{"key":"S0269888916000138_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2013.05.013"},{"key":"S0269888916000138_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380655"},{"key":"S0269888916000138_ref18","first-page":"369","article-title":"Design and implementation of fuzzy policy\n                        gradient gait learning method for walking pattern generation of humanoid\n                        robots","volume":"13","author":"Su","year":"2011","journal-title":"International Journal of Fuzzy\n                        Systems"},{"key":"S0269888916000138_ref20","unstructured":"Tedrake R. , Zhang T. W. & Seung H. S. 2004. Stochastic policy gradient reinforcement learning on a simple 3D biped. In Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 3, 2849\u20132854."},{"key":"S0269888916000138_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084980"},{"key":"S0269888916000138_ref7","unstructured":"Kajita S. , Kanehiro F. , Kaneko K. , Yokoi K. & Hirukawa H. 2001. The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In Proceedings of 2001 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 1, 239\u2013246."},{"key":"S0269888916000138_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2305792"},{"key":"S0269888916000138_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90061-2"},{"key":"S0269888916000138_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2005150"},{"key":"S0269888916000138_ref13","doi-asserted-by":"crossref","first-page":"1206","DOI":"10.1109\/TSMC.2012.2235426","article-title":"Central pattern generator inspired control for\n                        adaptive walking of biped robots","volume":"43","author":"Liu","year":"2013","journal-title":"IEEE Transactions\n                        on Systems, Man, and Cybernetics: Systems"},{"key":"S0269888916000138_ref6","doi-asserted-by":"crossref","first-page":"1444","DOI":"10.1109\/TIE.2007.908526","article-title":"Estimating biped gait using spline-based\n                        probability distribution function with Q-learning","volume":"55","author":"Hu","year":"2008","journal-title":"IEEE Transactions on Industrial Electronics"},{"key":"S0269888916000138_ref5","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574710000627"},{"key":"S0269888916000138_ref14","doi-asserted-by":"publisher","DOI":"10.5772\/5618"},{"key":"S0269888916000138_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2010.2089978"},{"key":"S0269888916000138_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2015.2397701"},{"key":"S0269888916000138_ref16","unstructured":"Park K.-H. , Jo J. & Kim J.-H. 2004. Stabilization of biped robot based on two mode Q-learning. In Proceedings of the 2nd International Conference on Autonomous Robots and Agents, 446\u2013451."},{"key":"S0269888916000138_ref8","unstructured":"Kajita S. , Morisawa M. , Harada K. , Kaneko K. , Kanehiro F. , Fujiwara K. & Hirukawa H. 2006. Biped walking pattern generator allowing auxiliary ZMP control. In Proceedings of 2006 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2993\u20132999."},{"key":"S0269888916000138_ref19","unstructured":"Taskiran E. , Yilmaz M. , Koca O. , Seven U. & Erbatur K. 2010. Trajectory generation with natural ZMP references for the biped walking robot SURALP. In Proceedings of 2010 IEEE International Conference on Robotics and Automation (ICRA), 4237\u20134242."},{"key":"S0269888916000138_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TNNLS.2012.2224370"},{"key":"S0269888916000138_ref1","unstructured":"Choi Y. , You B. J. & Oh S. R. 2004. On the stability of indirect ZMP controller for biped robot systems. In Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2, 1966\u20131971."}],"container-title":["The Knowledge Engineering Review"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0269888916000138","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T14:42:08Z","timestamp":1767624128000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0269888916000138\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,9,9]]},"references-count":21,"alternative-id":["S0269888916000138"],"URL":"https:\/\/doi.org\/10.1017\/s0269888916000138","relation":{},"ISSN":["0269-8889","1469-8005"],"issn-type":[{"type":"print","value":"0269-8889"},{"type":"electronic","value":"1469-8005"}],"subject":[],"published":{"date-parts":[[2016,9,9]]},"article-number":"e3"}}