{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:18Z","timestamp":1777715838462,"version":"3.51.4"},"reference-count":30,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2009,2,1]],"date-time":"2009-02-01T00:00:00Z","timestamp":1233446400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2009,2]]},"abstract":"<jats:p>\n                    The development of optimized motions of humanoid robots that guarantee fast and also stable walking is an important task, especially in the context of autonomous soccer-playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low-dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low-dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches, we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot, we measured a forward walking speed of more than 30 cm s\n                    <jats:sup>-1<\/jats:sup>\n                    . With a modified version of the robot, even more than 40 cm s\n                    <jats:sup>-1<\/jats:sup>\n                    could be achieved in permanent operation.\n                  <\/jats:p>","DOI":"10.1177\/0278364908095171","type":"journal-article","created":{"date-parts":[[2009,1,22]],"date-time":"2009-01-22T09:53:13Z","timestamp":1232617993000},"page":"303-314","source":"Crossref","is-referenced-by-count":30,"title":["Efficient Walking Speed Optimization of a Humanoid Robot"],"prefix":"10.1177","volume":"28","author":[{"given":"T.","family":"Hemker","sequence":"first","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany, -darmstadt.de"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Stelzer","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O.","family":"von Stryk","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt Department of Computer Science Hochschulstra\u00dfe 10, 64289 Darmstadt, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"H.","family":"Sakamoto","sequence":"additional","affiliation":[{"name":"Hajime Research Institute Ltd. 5-6-21 Higashi Nakajima Higashi Yodogawa-ku, Osaka 533-0033, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1023\/A:1016042505922"},{"key":"atypb2","volume-title":"Towards an autonomous, humanoid, and dynamically walking robot: Modeling, optimal trajectory planning, hardware architecture, and experiments","author":"Buss, M.","year":"2003"},{"key":"atypb3","volume-title":"Technical Report CRSC-TR99-23, Center for Research in Scientific Computation","author":"Choi, T."},{"key":"atypb4","unstructured":"Denk, J. and Schmidt, G. 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