{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,18]],"date-time":"2026-04-18T16:16:17Z","timestamp":1776528977873,"version":"3.51.2"},"reference-count":26,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,10,1]],"date-time":"2021-10-01T00:00:00Z","timestamp":1633046400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"UBTECH Robotics and the Robotic Control Lab in Tsinghua University"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2021,10]]},"DOI":"10.1109\/lra.2021.3092268","type":"journal-article","created":{"date-parts":[[2021,6,28]],"date-time":"2021-06-28T21:16:56Z","timestamp":1624915016000},"page":"6450-6457","source":"Crossref","is-referenced-by-count":19,"title":["Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis"],"prefix":"10.1109","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7333-3736","authenticated-orcid":false,"given":"Yijie","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2110-4565","authenticated-orcid":false,"given":"Mingwei","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7565-0065","authenticated-orcid":false,"given":"Hao","family":"Dong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9694-6957","authenticated-orcid":false,"given":"Mingguo","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2016.2582731"},{"key":"ref11","article-title":"Online hierarchical optimization for humanoid control","author":"feng","year":"2016"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912452673"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2017.8324677"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2982584"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2019.2958483"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3059627"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061381"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1201\/9781420053739"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814833"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2405592"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9196801"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487270"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631262"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.808489"},{"key":"ref2","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-54536-8","volume":"101","author":"kajita","year":"2014","journal-title":"Introduction to Humanoid Robotics"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/CDC40024.2019.9029348"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202230"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968162"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968056"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1115\/DSCC2015-9899"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803247"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.2964787"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2018.XIV.054"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9475905\/09466407.pdf?arnumber=9466407","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,11,5]],"date-time":"2023-11-05T11:37:00Z","timestamp":1699184220000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9466407\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10]]},"references-count":26,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2021.3092268","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10]]}}}