{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T20:01:36Z","timestamp":1771704096948,"version":"3.50.1"},"reference-count":44,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"11","license":[{"start":{"date-parts":[[2013,11,1]],"date-time":"2013-11-01T00:00:00Z","timestamp":1383264000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Ind. Electron."],"published-print":{"date-parts":[[2013,11]]},"DOI":"10.1109\/tie.2012.2221111","type":"journal-article","created":{"date-parts":[[2012,9,30]],"date-time":"2012-09-30T17:00:18Z","timestamp":1349024418000},"page":"5137-5147","source":"Crossref","is-referenced-by-count":100,"title":["Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model"],"prefix":"10.1109","volume":"60","author":[{"given":"Shuhei","family":"Shimmyo","sequence":"first","affiliation":[]},{"given":"Tomoya","family":"Sato","sequence":"additional","affiliation":[]},{"given":"Kouhei","family":"Ohnishi","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022600522613"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680985"},{"key":"ref33","doi-asserted-by":"crossref","first-page":"478","DOI":"10.1109\/AMC.2002.1026967","article-title":"A control of biped robot which applies inverted pendulum mode with virtual supporting point","author":"tsuji","year":"2002","journal-title":"Proc 7th Int Workshop Adv Motion Control"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2004.1442676"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.973365"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2006.282233"},{"key":"ref37","first-page":"2667","article-title":"High frequency walking pattern generation based on preview control of ZMP","author":"nishiwaki","year":"2007","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570473"},{"key":"ref35","first-page":"908","article-title":"Dynamic walking pattern generation for a humanoid robot based on optimal gradient method","volume":"6","author":"nagasaka","year":"1999","journal-title":"Proc IEEE Conf System Man Cybern"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041675"},{"key":"ref10","first-page":"1601","article-title":"Real time motion generation and control for biped robot&#x2014;4th report: Integrated balance control","author":"takenaka","year":"2009","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robot Syst"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ICIT.2009.4939522"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.921205"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2050753"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.870649"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.886254"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.894728"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2007.898469"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2024098"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321372"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5979917"},{"key":"ref28","author":"kajita","year":"2005","journal-title":"Humanoid Robot"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2003.1280029"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2032439"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/41.464612"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2030217"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2006936"},{"key":"ref8","first-page":"1092","article-title":"Real time motion generation and control for biped robot&#x2014;2nd report: Running gait pattern generation","author":"takenaka","year":"2009","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robot Syst"},{"key":"ref7","first-page":"1084","article-title":"Real time motion generation and control for biped robot&#x2014;1st report: Walking gait pattern generation","author":"takenaka","year":"2009","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robot Syst"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/41.345845"},{"key":"ref9","first-page":"1594","article-title":"Real time motion generation and control for biped robot&#x2014;3rd report: Dynamics error compensation","author":"takenaka","year":"2009","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robot Syst"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/3516.491410"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020354"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90061-2"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2032180"},{"key":"ref42","author":"morisawa","year":"2000","journal-title":"Motion control of biped robot for parallel link mechanism"},{"key":"ref24","first-page":"3815","article-title":"FSW (Feasible Solution of Wrench) for multi-legged robots","volume":"3","author":"saida","year":"2003","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2010.2052535"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1541\/ieejias.119.1507"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2008.2005150"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/IECON.2004.1433294"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641995"}],"container-title":["IEEE Transactions on Industrial Electronics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/41\/6525345\/06316165.pdf?arnumber=6316165","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,29]],"date-time":"2021-11-29T20:45:42Z","timestamp":1638218742000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6316165\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,11]]},"references-count":44,"journal-issue":{"issue":"11"},"URL":"https:\/\/doi.org\/10.1109\/tie.2012.2221111","relation":{},"ISSN":["0278-0046","1557-9948"],"issn-type":[{"value":"0278-0046","type":"print"},{"value":"1557-9948","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,11]]}}}