{"id":"https://openalex.org/W1986838953","doi":"https://doi.org/10.1017/s0263574714002008","title":"A walking control strategy combining global sensory reflex and leg synchronization","display_name":"A walking control strategy combining global sensory reflex and leg synchronization","publication_year":2014,"publication_date":"2014-07-31","ids":{"openalex":"https://openalex.org/W1986838953","doi":"https://doi.org/10.1017/s0263574714002008","mag":"1986838953"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574714002008","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002008","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/A5024107992","display_name":"Chenglong Fu","orcid":"https://orcid.org/0000-0002-8955-5429"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chenglong Fu","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010577284","display_name":"Jianmei Wang","orcid":"https://orcid.org/0000-0003-1694-6848"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianmei Wang","raw_affiliation_strings":["State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100420346","display_name":"Ken Chen","orcid":"https://orcid.org/0000-0003-2569-0071"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ken Chen","raw_affiliation_strings":["Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"State Key Laboratory of Tribology, Tsinghua University, Beijing 100084, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Biomimetic Robots and Systems, Beijing Institute of Technology, Beijing 100081, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5024107992"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.7516,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71033449,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"34","issue":"5","first_page":"973","last_page":"994"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9902999997138977,"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":0.9865000247955322,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.794044554233551},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6330195665359497},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.5890781879425049},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5775684118270874},{"id":"https://openalex.org/keywords/sensory-system","display_name":"Sensory system","score":0.5736828446388245},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5552871227264404},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.4820035994052887},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26708847284317017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2560269832611084},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.23436078429222107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20089459419250488},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13007491827011108},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12457498908042908},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.08952009677886963},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.07566401362419128}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.794044554233551},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6330195665359497},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.5890781879425049},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5775684118270874},{"id":"https://openalex.org/C94487597","wikidata":"https://www.wikidata.org/wiki/Q11101","display_name":"Sensory system","level":2,"score":0.5736828446388245},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5552871227264404},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.4820035994052887},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26708847284317017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2560269832611084},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.23436078429222107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20089459419250488},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13007491827011108},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12457498908042908},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.08952009677886963},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.07566401362419128},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574714002008","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574714002008","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":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1516004744","https://openalex.org/W1639534865","https://openalex.org/W1964860164","https://openalex.org/W1972818634","https://openalex.org/W1988725789","https://openalex.org/W1996763811","https://openalex.org/W1999052969","https://openalex.org/W2033226680","https://openalex.org/W2040657708","https://openalex.org/W2042292588","https://openalex.org/W2042370671","https://openalex.org/W2056731950","https://openalex.org/W2057952125","https://openalex.org/W2073293287","https://openalex.org/W2073961585","https://openalex.org/W2079407617","https://openalex.org/W2085746528","https://openalex.org/W2085978624","https://openalex.org/W2099473122","https://openalex.org/W2103447784","https://openalex.org/W2136143868","https://openalex.org/W2137547873","https://openalex.org/W2149458524","https://openalex.org/W2150186619","https://openalex.org/W2152010838","https://openalex.org/W2163048086","https://openalex.org/W2163668399","https://openalex.org/W2169055653","https://openalex.org/W6660812760"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W1562157883","https://openalex.org/W2352322616","https://openalex.org/W2574438335"],"abstract_inverted_index":{"SUMMARY":[0],"Biped":[1],"walking":[2],"can":[3,62],"be":[4],"regarded":[5],"as":[6,41],"a":[7,25,64,83],"global":[8,29,42,47],"limit":[9],"cycle":[10],"whose":[11],"stability":[12],"is":[13,39,54],"difficult":[14],"to":[15,45,56,91,109],"verify":[16],"by":[17,86],"only":[18],"local":[19],"sensory":[20,30,107],"feedback.":[21],"This":[22],"paper":[23],"presents":[24],"control":[26],"strategy":[27,61],"combining":[28],"reflex":[31],"and":[32,49,67,113],"leg":[33],"synchronization.":[34],"The":[35,59,70],"inverted":[36],"pendulum":[37],"angle":[38],"utilized":[40],"motion":[43],"feedback":[44],"ensure":[46],"stability,":[48],"joint":[50],"synchronization":[51],"between":[52],"legs":[53],"designed":[55],"stabilize":[57,68],"bifurcations.":[58,69],"proposed":[60,97],"achieve":[63],"stable":[65],"gait":[66],"robustness":[71],"of":[72,82,95,100],"this":[73,104],"approach":[74],"was":[75],"evaluated":[76],"against":[77],"external":[78],"disturbances.":[79],"Walking":[80],"experiments":[81],"biped":[84],"actuated":[85],"pneumatic":[87],"muscles":[88],"were":[89],"conducted":[90],"confirm":[92],"the":[93,96,116],"validity":[94],"method.":[98],"Instead":[99],"tracking":[101],"predetermined":[102],"trajectories,":[103],"method":[105],"uses":[106],"reflexes":[108],"activate":[110],"motor":[111],"neurons":[112],"coincides":[114],"with":[115],"biological":[117],"idea":[118],"wherein":[119],"inessential":[120],"degrees-of-freedom":[121],"are":[122],"barely":[123],"controlled":[124],"rather":[125],"than":[126],"strictly":[127],"controlled.":[128]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
