{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T03:12:52Z","timestamp":1772766772948,"version":"3.50.1"},"reference-count":22,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2016,12]]},"DOI":"10.1109\/cdc.2016.7799218","type":"proceedings-article","created":{"date-parts":[[2017,1,5]],"date-time":"2017-01-05T12:11:18Z","timestamp":1483618278000},"page":"6173-6179","source":"Crossref","is-referenced-by-count":19,"title":["Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization"],"prefix":"10.1109","author":[{"given":"Ayonga","family":"Hereid","sequence":"first","affiliation":[]},{"given":"Shishir","family":"Kolathaya","sequence":"additional","affiliation":[]},{"given":"Aaron D.","family":"Ames","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487279"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300106"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2015.7354126"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2016.7526114"},{"key":"ref15","first-page":"1231","article-title":"Online free walking trajectory generation for biped humanoid robot KHR-3(HUBO)","author":"park","year":"2006","journal-title":"Proceedings - IEEE International Conference on Robotics and Automation"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913506757"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631262"},{"key":"ref18","first-page":"2210","article-title":"A unified computational framework for real-time optimal control","volume":"3","author":"michael ross","year":"2003","journal-title":"Proceedings 42nd IEEE Conference on Decision and Control"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910379882"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942907"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2299335"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/9.467672"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.04.021"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2006.878570"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2299342"},{"key":"ref1","year":"0","journal-title":"Online optimal gait generation for bipedal walking robots using Legendre pseudospectral optimization"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2013.6580811"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10107-004-0559-y"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICCPS.2014.6843723"},{"key":"ref21","author":"westervelt","year":"2007","journal-title":"Feedback Control of Dynamic Bipedal Robot Locomotion"}],"event":{"name":"2016 IEEE 55th Conference on Decision and Control (CDC)","location":"Las Vegas, NV, USA","start":{"date-parts":[[2016,12,12]]},"end":{"date-parts":[[2016,12,14]]}},"container-title":["2016 IEEE 55th Conference on Decision and Control (CDC)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7786694\/7798233\/07799218.pdf?arnumber=7799218","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,10,3]],"date-time":"2017-10-03T00:01:54Z","timestamp":1506988914000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7799218\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12]]},"references-count":22,"URL":"https:\/\/doi.org\/10.1109\/cdc.2016.7799218","relation":{},"subject":[],"published":{"date-parts":[[2016,12]]}}}