{"id":"https://openalex.org/W2135627560","doi":"https://doi.org/10.1017/s0263574708005298","title":"Tip over avoidance control for biped robot","display_name":"Tip over avoidance control for biped robot","publication_year":2009,"publication_date":"2009-01-21","ids":{"openalex":"https://openalex.org/W2135627560","doi":"https://doi.org/10.1017/s0263574708005298","mag":"2135627560"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574708005298","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708005298","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101641786","display_name":"Qing Tang","orcid":"https://orcid.org/0009-0003-6152-9549"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tang Qing","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xiong Rong","orcid":null},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiong Rong","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101408150","display_name":"Jian Chu","orcid":"https://orcid.org/0000-0002-8311-3419"},"institutions":[{"id":"https://openalex.org/I55712492","display_name":"Zhejiang University of Technology","ror":"https://ror.org/02djqfd08","country_code":"CN","type":"education","lineage":["https://openalex.org/I55712492"]},{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chu Jian","raw_affiliation_strings":["State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou, Zhejiang Province 310027, P.R. China","institution_ids":["https://openalex.org/I55712492"]},{"raw_affiliation_string":"State key laboratory of industrial control technology, zhejiang university, hangzhou, zhejiang province 310027, p.r. china#TAB#","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I55712492","https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.3491,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.8144756,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"27","issue":"6","first_page":"883","last_page":"889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9825000166893005,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9786999821662903,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8529584407806396},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7826274037361145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7502199411392212},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5449695587158203},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5286011695861816},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5033811926841736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4992232322692871},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.48097288608551025},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4682126045227051},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4552645981311798},{"id":"https://openalex.org/keywords/double-inverted-pendulum","display_name":"Double inverted pendulum","score":0.43169906735420227},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36938661336898804},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3408161401748657},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24329760670661926},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19564107060432434},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16746225953102112},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16349968314170837},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09770017862319946}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8529584407806396},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7826274037361145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7502199411392212},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5449695587158203},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5286011695861816},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5033811926841736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4992232322692871},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.48097288608551025},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4682126045227051},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4552645981311798},{"id":"https://openalex.org/C102540577","wikidata":"https://www.wikidata.org/wiki/Q5300047","display_name":"Double inverted pendulum","level":4,"score":0.43169906735420227},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36938661336898804},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3408161401748657},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24329760670661926},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19564107060432434},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16746225953102112},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16349968314170837},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09770017862319946},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574708005298","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708005298","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W762742016","https://openalex.org/W1546283771","https://openalex.org/W1937967612","https://openalex.org/W2002803749","https://openalex.org/W2018265839","https://openalex.org/W2037729465","https://openalex.org/W2107063340","https://openalex.org/W2108426047","https://openalex.org/W2109502065","https://openalex.org/W2112817830","https://openalex.org/W2116173495","https://openalex.org/W2118495694","https://openalex.org/W2127763473","https://openalex.org/W2137300190","https://openalex.org/W2138136244","https://openalex.org/W2138671676","https://openalex.org/W2145477224","https://openalex.org/W2148338288","https://openalex.org/W2151182239","https://openalex.org/W2160111545","https://openalex.org/W2165178808","https://openalex.org/W2166162370","https://openalex.org/W2169738905"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2133801610","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2024927487","https://openalex.org/W1492838287"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"analyzes":[3],"the":[4,8,17,23,26,39,51,54,59,64,71,74],"stabilization":[5],"problem":[6],"from":[7,69],"energy":[9,55],"point":[10],"of":[11,56,61],"view.":[12],"Perturbations":[13],"are":[14],"detected":[15],"by":[16],"gyros":[18],"and":[19,30,58,73],"categorized":[20],"according":[21,49],"to":[22,37,50,63,87],"constraints":[24],"on":[25,53],"zero-moment":[27],"point,":[28],"energy,":[29],"walking":[31],"pattern.":[32],"Ankle":[33],"torque":[34],"is":[35,47],"exerted":[36],"extend":[38],"linear":[40],"inverted":[41],"pendulum":[42],"mode":[43],"(LIPM).":[44],"Compensation":[45],"movement":[46],"computed":[48],"analysis":[52],"LIPM":[57],"influence":[60],"disturbance":[62,88],"energy.":[65],"The":[66],"experimental":[67],"results":[68],"both":[70],"simulation":[72],"physical":[75],"robot":[76],"not":[77],"only":[78],"proved":[79],"effective":[80],"but":[81],"also":[82],"explain":[83],"various":[84],"human":[85],"reactions":[86],"in":[89],"locomotion.":[90]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}