{"id":"https://openalex.org/W2157551417","doi":"https://doi.org/10.1017/s0263574799001617","title":"Design of a fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot","display_name":"Design of a fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot","publication_year":1999,"publication_date":"1999-07-01","ids":{"openalex":"https://openalex.org/W2157551417","doi":"https://doi.org/10.1017/s0263574799001617","mag":"2157551417"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574799001617","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001617","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/A5111959188","display_name":"Kuo\u2010Yang Tu","orcid":null},"institutions":[{"id":"https://openalex.org/I88780834","display_name":"Hwa Hsia University of Technology","ror":"https://ror.org/02mfjgm25","country_code":"TW","type":"education","lineage":["https://openalex.org/I88780834"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Kuo-Yang Tu","raw_affiliation_strings":["Hwa-Sia College of Technology and Commerce, Dept. of Electronic Engineering, Taiwan (R.O.C.) 10772"],"affiliations":[{"raw_affiliation_string":"Hwa-Sia College of Technology and Commerce, Dept. of Electronic Engineering, Taiwan (R.O.C.) 10772","institution_ids":["https://openalex.org/I88780834"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000575684","display_name":"Tsu\u2010Tian Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Tsu-Tian Lee","raw_affiliation_strings":["Dept. of Electrical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan (R.O.C.) 10772. E-mail:"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical Engineering, National Taiwan University of Science and Technology, 43 Keelung Road, Section 4, Taipei, Taiwan (R.O.C.) 10772. E-mail:","institution_ids":["https://openalex.org/I154864474"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035725118","display_name":"Chi\u2010Hsu Wang","orcid":"https://orcid.org/0000-0001-5763-6833"},"institutions":[{"id":"https://openalex.org/I11701301","display_name":"Griffith University","ror":"https://ror.org/02sc3r913","country_code":"AU","type":"education","lineage":["https://openalex.org/I11701301"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Chi-Hsu Wang","raw_affiliation_strings":["School of Microelectronic Engineering, Griffith University, Nathan, Brisbane, Queensland (Australia) Q4111"],"affiliations":[{"raw_affiliation_string":"School of Microelectronic Engineering, Griffith University, Nathan, Brisbane, Queensland (Australia) Q4111","institution_ids":["https://openalex.org/I11701301"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003967912","display_name":"Cu-An Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I75430998","display_name":"National Ilan University","ror":"https://ror.org/01npf0s58","country_code":"TW","type":"education","lineage":["https://openalex.org/I75430998"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Cu-An Chang","raw_affiliation_strings":["National I-Lan Institute of Agriculture and Technology, Dept. of Electrical Engineering, I-Lan, Taiwan (R.O.C"],"affiliations":[{"raw_affiliation_string":"National I-Lan Institute of Agriculture and Technology, Dept. of Electrical Engineering, I-Lan, Taiwan (R.O.C","institution_ids":["https://openalex.org/I75430998"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5111959188"],"corresponding_institution_ids":["https://openalex.org/I88780834"],"apc_list":null,"apc_paid":null,"fwci":0.2654,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.56970433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"17","issue":"4","first_page":"373","last_page":"382"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10865","display_name":"Shape Memory Alloy Transformations","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9772999882698059,"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/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9059000015258789,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/sma*","display_name":"SMA*","score":0.7743563652038574},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5911598205566406},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565638542175293},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4920942187309265},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44761356711387634},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4263598322868347},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3301963210105896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2713916301727295},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1761741042137146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15959322452545166}],"concepts":[{"id":"https://openalex.org/C161921814","wikidata":"https://www.wikidata.org/wiki/Q493743","display_name":"SMA*","level":2,"score":0.7743563652038574},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5911598205566406},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565638542175293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4920942187309265},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44761356711387634},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4263598322868347},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3301963210105896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2713916301727295},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1761741042137146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15959322452545166},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574799001617","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001617","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":[{"score":0.47999998927116394,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1855078625","https://openalex.org/W1978604570","https://openalex.org/W1982944579","https://openalex.org/W2003785958","https://openalex.org/W2042407741","https://openalex.org/W2044767719","https://openalex.org/W2060425022","https://openalex.org/W2061063863","https://openalex.org/W2067999433","https://openalex.org/W2069050145","https://openalex.org/W2069762459","https://openalex.org/W2082616311","https://openalex.org/W2135007314","https://openalex.org/W2145944877","https://openalex.org/W2259289169","https://openalex.org/W2417620245","https://openalex.org/W2507693332","https://openalex.org/W2545130875","https://openalex.org/W2606761053"],"related_works":["https://openalex.org/W2689884327","https://openalex.org/W2033598884","https://openalex.org/W2722621396","https://openalex.org/W2909273876","https://openalex.org/W1979722432","https://openalex.org/W2724977373","https://openalex.org/W4389232553","https://openalex.org/W1978777029","https://openalex.org/W4390099502","https://openalex.org/W3214589171"],"abstract_inverted_index":{"The":[0,15,82,108],"Shape":[1],"Memory":[2],"Alloy":[3],"(SMA)":[4],"is":[5,9,28,51,76,104,138],"a":[6,24,32,46,55,123,135],"device":[7],"which":[8],"lightweight":[10],"and":[11,95],"small":[12,56,73],"in":[13,126],"volume.":[14],"SMA":[16,61],"can":[17,85],"be":[18],"used":[19,77],"as":[20,62],"the":[21,36,41,63,67,72,80,87,91,97,101,114,118,130,142,147,150],"actuator":[22],"of":[23,40,71,117,129,149],"micro-robot,":[25],"but":[26,120],"it":[27],"difficult":[29],"to":[30,34,53,78,106,140],"design":[31,128],"controller":[33,127],"handle":[35,96],"highly":[37],"nonlinear":[38],"properties":[39],"SMA.":[42],"In":[43,65,133],"this":[44],"paper,":[45],"Fuzzy":[47],"Walking":[48],"Pattern":[49],"(FWP)":[50],"proposed":[52,83,109],"control":[54,86,115],"biped":[57,74,88,102,131],"robot,":[58],"using":[59],"an":[60],"actuator.":[64],"fact,":[66],"desired":[68,92],"walking":[69,93],"pattern":[70],"robot":[75,89,103],"construct":[79],"FWP.":[81,143,151],"FWP":[84,110],"under":[90],"pattern,":[94],"exceptional":[98],"case":[99],"when":[100],"subject":[105],"disturbance.":[107],"not":[111],"only":[112],"solves":[113],"problem":[116],"SMA,":[119],"also":[121],"provides":[122],"new":[124],"method":[125],"robot.":[132],"addition,":[134],"transputer":[136],"network":[137],"designed":[139],"impelement":[141],"Experimental":[144],"results":[145],"demonstrate":[146],"functions":[148]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}