{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:55:45Z","timestamp":1754157345297,"version":"3.41.2"},"reference-count":9,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2009,6,19]],"date-time":"2009-06-19T00:00:00Z","timestamp":1245369600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,6,19]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Planning and control of humanoid biped walking has been an active research topic for many years. But, there is no definite answer to the question of how to practicre\u2010examinedally achieve speedy and stable walking in real\u2010time and in a changing environment. The purpose of this paper is to re\u2010examine the issue of planning and controlling humanoid biped walking, then to propose two new ideas.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The first idea is to treat the supporting foot of a biped to be part of the ground. In this way, there is a foot reaction force acting at a fixed virtual joint, which can be at, or below, the ankle joint. And, a new concept is come our that is named as in\u2010foot ZMP in contrast to the existing concept of on\u2010ground ZMP. The unique benefit with this new concept of in\u2010foot ZMP is that the ZMP control is no longer an issue because the in\u2010foot ZMP can be controlled so as to to be at a fixed virtual joint during a stable walking. Such a fixed virtual joint can be called a ZMP joint.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The second idea is to focus on hip's trajectory (instead of on\u2010ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady\u2010state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking. This idea allows us to explicitly postulate the necessary and sufficient condition for achieving leg stability as well as the necessary and sufficient condition for achieving foot stability. The paper shows that the implementation of these two new ideas help realize a unified framework for task\u2010guided, intention\u2010guided, and sensor\u2010guided, planning and control of humanoid biped walking.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>This paper first re\u2010examines the issue of planning and controlling humanoid biped walking, then proposes two new ideas. The first idea is to treat the supporting foot of a biped to be part of the ground. The second idea is to focus on hip's trajectory (instead of on\u2010ground ZMP's trajectory) and to split a hip's dynamic response into two independent parts: one is the steady\u2010state response contributing to the stability of walking (or standing), and the other is the transient response contributing to the speed of walking.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910957066","type":"journal-article","created":{"date-parts":[[2009,6,13]],"date-time":"2009-06-13T07:08:30Z","timestamp":1244876910000},"page":"314-325","source":"Crossref","is-referenced-by-count":3,"title":["A deterministic way of planning and controlling biped walking of LOCH humanoid robot"],"prefix":"10.1108","volume":"36","author":[{"given":"M.","family":"Xie","sequence":"first","affiliation":[]},{"given":"Z.W.","family":"Zhong","sequence":"additional","affiliation":[]},{"given":"L.","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"L.B.","family":"Xian","sequence":"additional","affiliation":[]},{"given":"L.","family":"Wang","sequence":"additional","affiliation":[]},{"given":"H.J.","family":"Yang","sequence":"additional","affiliation":[]},{"given":"C.S.","family":"Song","sequence":"additional","affiliation":[]},{"given":"J.","family":"Li","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022012520134575600_b1","doi-asserted-by":"crossref","unstructured":"Golliday, C.L. and Hemami, H. (1977), \u201cAn approach to analyzing biped locomotion dynamics and designing robot locomotion controls\u201d, IEEE Transactions on Automatatic Control, Vol. 22 No. 6, pp. 963\u201072.","DOI":"10.1109\/TAC.1977.1101650"},{"key":"key2022012520134575600_b3","unstructured":"Harada, K., Kajita, S., Kaneko, K. and Hirukawa, H. (2006), \u201cAn analytical method for real\u2010time gait planning for humanoid robots\u201d, International Journal of Humanoid Robotics, Vol. 3, pp. 568\u201075."},{"key":"key2022012520134575600_b4","doi-asserted-by":"crossref","unstructured":"Hemami, H. and Wyman, B. (1979), \u201cModeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane\u201d, IEEE Transactions on Automatatic Control, Vol. 24, pp. 526\u201035.","DOI":"10.1109\/TAC.1979.1102105"},{"key":"key2022012520134575600_b6","unstructured":"Kajita, S., Hirukawa, H., Yokoi, K. and Harada, K. (2005), Humanoid Robots, Ohm\u2010sha Ltd, Japan."},{"key":"key2022012520134575600_b7","doi-asserted-by":"crossref","unstructured":"Vukobratovic, M. and Borovac, B. (2004), \u201cZMP \u2013 thirty five years of its life\u201d, International Journal of Humanoid Robotics, Vol. 1, pp. 157\u201073.","DOI":"10.1142\/S0219843604000083"},{"key":"key2022012520134575600_b9","doi-asserted-by":"crossref","unstructured":"Xie, M. (2003), Fundamentals of Robotics: Linking Perception to Action, World Scientific, Singapore.","DOI":"10.1142\/5230"},{"key":"key2022012520134575600_frd1","doi-asserted-by":"crossref","unstructured":"Gravez, F., Bruneau, O. and Ouezdou, F.B. (2005), \u201cAnalytical and automatic modelling of digital humanoid\u201d, International Journal of Humanoid Robotics, Vol. 2, pp. 337\u201059.","DOI":"10.1142\/S021984360500051X"},{"key":"key2022012520134575600_frd2","doi-asserted-by":"crossref","unstructured":"Kajita, S., Yamaura, T. and Kobayashi, A. (1992), \u201cDynamic walking control of a biped robot along a potential energy conserving\u201d, IEEE Transactions on Robotics and Automation, Vol. 8 No. 4, pp. 431\u20108.","DOI":"10.1109\/70.149940"},{"key":"key2022012520134575600_frd3","unstructured":"Vukobratovic, M. and Rodi, A.D. (2007), \u201cContribution to the integrated control of biped locomotion\u201d, International Journal of Humanoid Robotics, Vol. 4, pp. 7\u201017."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910957066","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957066\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957066\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:26Z","timestamp":1753401026000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/4\/314-325\/184139"}},"subtitle":[],"editor":[{"given":"Kenneth J.","family":"Waldron","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2009,6,19]]},"references-count":9,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,6,19]]}},"alternative-id":["10.1108\/01439910910957066"],"URL":"https:\/\/doi.org\/10.1108\/01439910910957066","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2009,6,19]]}}}