{"id":"https://openalex.org/W2101497383","doi":"https://doi.org/10.1017/s0263574709005608","title":"Truncated Fourier series formulation for bipedal walking balance control","display_name":"Truncated Fourier series formulation for bipedal walking balance control","publication_year":2009,"publication_date":"2009-04-28","ids":{"openalex":"https://openalex.org/W2101497383","doi":"https://doi.org/10.1017/s0263574709005608","mag":"2101497383"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574709005608","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005608","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/A5100429570","display_name":"Lin Yang","orcid":"https://orcid.org/0000-0001-7852-3117"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Lin Yang","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103176848","display_name":"Y. Zheng","orcid":"https://orcid.org/0000-0002-4617-3252"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Yu Zheng","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109290352","display_name":"Aun-Neow Poo","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Aun-Neow Poo","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, 117576, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of mechanical engineering, national university of singapore, 10 kent ridge crescent, 117576, singapore#TAB#","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100429570"],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.4497,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68325041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"28","issue":"1","first_page":"81","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9925000071525574,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9891999959945679,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/control-theory","display_name":"Control theory (sociology)","score":0.7490162253379822},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7433896660804749},{"id":"https://openalex.org/keywords/fourier-series","display_name":"Fourier series","score":0.7008394002914429},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6582967042922974},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.6434275507926941},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6292408108711243},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.5648798942565918},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5223392248153687},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5050657391548157},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.44454216957092285},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.40726688504219055},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2829242944717407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2249869704246521},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14526689052581787},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09272816777229309},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08690598607063293},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07400786876678467},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06557142734527588}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7490162253379822},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7433896660804749},{"id":"https://openalex.org/C207864730","wikidata":"https://www.wikidata.org/wiki/Q179467","display_name":"Fourier series","level":2,"score":0.7008394002914429},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6582967042922974},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.6434275507926941},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6292408108711243},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.5648798942565918},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5223392248153687},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5050657391548157},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.44454216957092285},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.40726688504219055},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2829242944717407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2249869704246521},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14526689052581787},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09272816777229309},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08690598607063293},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07400786876678467},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06557142734527588},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574709005608","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574709005608","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"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/61627","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/61627","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W32403112","https://openalex.org/W1515851193","https://openalex.org/W1557517019","https://openalex.org/W1970649149","https://openalex.org/W1988274707","https://openalex.org/W1994923984","https://openalex.org/W2014760134","https://openalex.org/W2019955168","https://openalex.org/W2026036461","https://openalex.org/W2027018636","https://openalex.org/W2033226680","https://openalex.org/W2040644102","https://openalex.org/W2051287096","https://openalex.org/W2052322585","https://openalex.org/W2057892472","https://openalex.org/W2078794407","https://openalex.org/W2086756762","https://openalex.org/W2107063340","https://openalex.org/W2107726111","https://openalex.org/W2110811984","https://openalex.org/W2111527309","https://openalex.org/W2120901264","https://openalex.org/W2121863487","https://openalex.org/W2127763473","https://openalex.org/W2139889932","https://openalex.org/W2544598527","https://openalex.org/W2991542025","https://openalex.org/W3146490120","https://openalex.org/W4214717370","https://openalex.org/W6671999969","https://openalex.org/W6677795319"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W1985164959"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"studies":[3],"the":[4,8,20,38,60,65,71,82,89],"parameters":[5],"contained":[6],"in":[7,75],"truncated":[9],"Fourier":[10],"series":[11],"(TFS)":[12],"formulation":[13,43],"for":[14,44],"bipedal":[15,27,99],"walking":[16,28,100],"balance":[17,46,55,84],"control.":[18],"Using":[19],"TFS":[21,42],"generated":[22],"lateral":[23],"motion":[24,45,54,91],"reference,":[25],"3D":[26,98],"can":[29,92],"be":[30,93],"directly":[31],"achieved":[32],"without":[33],"any":[34],"parameter":[35],"adjustment.":[36],"Furthermore,":[37],"potential":[39],"of":[40,81],"this":[41],"control":[47,85],"has":[48],"also":[49],"been":[50],"investigated.":[51],"One":[52],"more":[53],"strategy":[56],"is":[57],"developed":[58],"through":[59],"reinforcement":[61],"learning,":[62],"which":[63],"adjusts":[64],"motion's":[66],"reference":[67],"trajectory":[68],"according":[69],"to":[70],"selected":[72],"dynamic":[73],"feedback":[74],"real":[76],"time.":[77],"Dynamic":[78],"simulation":[79],"results":[80],"presented":[83],"method":[86],"show":[87],"that":[88],"resulting":[90],"constrained":[94],"periodical":[95],"and":[96],"long-distance":[97],"motions":[101],"are":[102],"achievable.":[103]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}