{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T05:18:17Z","timestamp":1777439897562,"version":"3.51.4"},"reference-count":46,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2012,11,1]],"date-time":"2012-11-01T00:00:00Z","timestamp":1351728000000},"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. Syst., Man, Cybern. C"],"published-print":{"date-parts":[[2012,11]]},"DOI":"10.1109\/tsmcc.2011.2173191","type":"journal-article","created":{"date-parts":[[2011,12,5]],"date-time":"2011-12-05T21:33:04Z","timestamp":1323120784000},"page":"926-933","source":"Crossref","is-referenced-by-count":27,"title":["Energy-Efficiency-Based Gait Control System Architecture and Algorithm for Biped Robots"],"prefix":"10.1109","volume":"42","author":[{"family":"Zhi Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Liyang Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C. C. L.","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Xiaojie Zeng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Yun Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Yaonan Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2009.2030668"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.847610"},{"key":"ref33","first-page":"235","article-title":"Simulated 3D biped walking with an evolution-strategy tuned spiking neural network","volume":"19","author":"wiklendt","year":"2009","journal-title":"Neural Netw World"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2009.06.007"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/TNN.2009.2032183"},{"key":"ref30","first-page":"1","article-title":"Fuzzy control of humanoid robot for obstacle avoidance","volume":"10","author":"wong","year":"2008","journal-title":"Int J Fuzzy Syst"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1016\/S0165-0114(02)00237-3"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832811"},{"key":"ref35","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1142\/S0219843606000710","article-title":"ZMP: A review of some basic misunderstandings","volume":"3","author":"vukobratovic","year":"2006","journal-title":"Int J Humanoid Robot"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83006-8"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.677288"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932998"},{"key":"ref40","doi-asserted-by":"crossref","first-page":"917","DOI":"10.1109\/TRO.2008.926859","article-title":"Modifiable walking pattern of a humanoid robot by using allowable ZMP variation","volume":"24","author":"lee","year":"2008","journal-title":"IEEE Trans Robot"},{"key":"ref12","article-title":"Basin of attraction of the simplest walking mode1","author":"schwab","year":"2001","journal-title":"Int Conf Noise and Vibration"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2026502"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.4218\/etrij.09.0108.0452"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084980"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470800475X"},{"key":"ref17","doi-asserted-by":"crossref","first-page":"191","DOI":"10.1016\/j.asoc.2008.04.004","article-title":"Soft computing-based gait planners for a dynamically balanced biped robot negotiating sloping surfaces","volume":"9","author":"vundavilli","year":"2009","journal-title":"Appl Soft Comput"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1142\/S021984360900170X"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/3468.983431"},{"key":"ref4","doi-asserted-by":"crossref","first-page":"1082","DOI":"10.1126\/science.1107799","article-title":"Efficient bipedal robots based on passive dynamic walkers","volume":"307","author":"collins","year":"2005","journal-title":"Science"},{"key":"ref28","first-page":"202","article-title":"Fuzzy controller based biped robot balance control using 3D image","volume":"11","author":"park","year":"2009","journal-title":"Int J Fuzzy Syst"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.2798313"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2009.2030164"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.12.001"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380639"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2007.900649"},{"key":"ref8","doi-asserted-by":"crossref","first-page":"153","DOI":"10.1142\/S0219843606000710","article-title":"ZMP: A review of some basic misunderstandings","volume":"3","author":"vukobratovic","year":"2006","journal-title":"Int J Humanoid Robot"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003307"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.80.3658"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.911919"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.769931"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006870"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2009.5379573"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2028762"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.904907"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354840"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.1109\/TII.2007.898469"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2090891"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2012336"},{"key":"ref26","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1017\/S0263574706003183","article-title":"Robust control of underactuated bipeds using sliding modes","volume":"25","author":"nikkhah","year":"2007","journal-title":"Robotica"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2006234"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X324749"}],"container-title":["IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications and Reviews)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/5326\/6330018\/06095382.pdf?arnumber=6095382","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T23:53:14Z","timestamp":1633909994000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6095382\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,11]]},"references-count":46,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tsmcc.2011.2173191","relation":{},"ISSN":["1094-6977","1558-2442"],"issn-type":[{"value":"1094-6977","type":"print"},{"value":"1558-2442","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,11]]}}}