{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T04:27:58Z","timestamp":1777436878105,"version":"3.51.4"},"reference-count":17,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2013,1,1]],"date-time":"2013-01-01T00:00:00Z","timestamp":1356998400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Advanced Robotic Systems"],"published-print":{"date-parts":[[2013,1,1]]},"abstract":"<jats:p>The simulation of a robot with a high number of joints can easily become unstable. Numerical errors on the first joint of the chain are propagated to the other joints. This is a very common problem in humanoid robots. A way to plan the gait for these robots is using simulation and optimization techniques. This paper addresses a new approach to optimizing gait parameter sets using an adaptive simulated annealing optimization algorithm, combined with a new joint model that reduces its instability. The new model and the optimization are implemented in SimTwo (a developed physical robot simulator that is capable of simulating user defined robots in a three-dimensional space, since it includes a physical model based on rigid body dynamics) and results are shown that validate the approach.<\/jats:p>","DOI":"10.5772\/54766","type":"journal-article","created":{"date-parts":[[2013,1,31]],"date-time":"2013-01-31T05:16:44Z","timestamp":1359609404000},"update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Humanoid Gait Optimization Resorting to an Improved Simulation Model"],"prefix":"10.1177","volume":"10","author":[{"given":"Jos\u00e9 L.","family":"Lima","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering of the Polytechnic Institute of Bragan\u00e7a, Portugal"},{"name":"INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal"}]},{"given":"Jos\u00e9 A.","family":"Gon\u00e7alves","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering of the Polytechnic Institute of Bragan\u00e7a, Portugal"},{"name":"INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal"}]},{"given":"Paulo G.","family":"Costa","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computers at the Faculty of Engineering of the University of Porto, Portugal"},{"name":"INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal"}]},{"given":"A. Paulo","family":"Moreira","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Computers at the Faculty of Engineering of the University of Porto, Portugal"},{"name":"INESC TEC (formerly INESC Porto) and the Faculty of Engineering of the University of Porto, Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2013,1,1]]},"reference":[{"key":"bibr1-54766","volume-title":"Proceedings of the 2006 IEEE International Conference on Robotics and Automation","author":"Hu L.","year":"2006"},{"key":"bibr2-54766","unstructured":"Niehaus C., R\u00f6fer T. R., Laue T. Gait Optimization on a Humanoid Robot using Particle Swarm Optimization, Proceedings of the Second Workshop on Humanoid Soccer Robots in conjunction with the 2007 IEEE-RAS International Conference on Humanoid Robots, 2007."},{"key":"bibr3-54766","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570692"},{"issue":"1","key":"bibr4-54766","first-page":"17","volume":"1","author":"Costa P.","year":"2011","journal-title":"International Journal of Theory and Applications of Mathematics & Computer Science"},{"key":"bibr5-54766","unstructured":"Smith R., Open Dynamics Engine, http:\/\/www.ode.org, 2000."},{"key":"bibr6-54766","doi-asserted-by":"crossref","unstructured":"Browning B. and Tryzelaar E., Ubersim: A realistic simulation engine for robotsoccer. 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