{"id":"https://openalex.org/W2473335641","doi":"https://doi.org/10.1080/01691864.2016.1202137","title":"Fuzzy control-based real-time robust balance for a humanoid robot","display_name":"Fuzzy control-based real-time robust balance for a humanoid robot","publication_year":2016,"publication_date":"2016-07-13","ids":{"openalex":"https://openalex.org/W2473335641","doi":"https://doi.org/10.1080/01691864.2016.1202137","mag":"2473335641"},"language":"en","primary_location":{"id":"doi:10.1080/01691864.2016.1202137","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1202137","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/A5113775389","display_name":"Jun-Wei Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Jun-Wei Chang","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111548884","display_name":"Rong-Jyue Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I40689657","display_name":"National Formosa University","ror":"https://ror.org/00q523p52","country_code":"TW","type":"education","lineage":["https://openalex.org/I40689657"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Rong-Jyue Wang","raw_affiliation_strings":["Department of Electronic Engineering, National Formosa University, Huwei Township, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electronic Engineering, National Formosa University, Huwei Township, Taiwan","institution_ids":["https://openalex.org/I40689657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110427240","display_name":"Che-Han Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Che-Han Chang","raw_affiliation_strings":["MiTAC Computing Technology Corp., Taipei City, Taiwan"],"affiliations":[{"raw_affiliation_string":"MiTAC Computing Technology Corp., Taipei City, Taiwan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113775390","display_name":"Hao-Gong Chou","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hao-Gong Chou","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109970548","display_name":"Wen-June Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I22265921","display_name":"National Central University","ror":"https://ror.org/00944ve71","country_code":"TW","type":"education","lineage":["https://openalex.org/I22265921"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-June Wang","raw_affiliation_strings":["Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Central University, Taoyuan City, Taiwan","institution_ids":["https://openalex.org/I22265921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5111548884"],"corresponding_institution_ids":["https://openalex.org/I40689657"],"apc_list":null,"apc_paid":null,"fwci":0.3419,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62941556,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"30","issue":"19","first_page":"1288","last_page":"1303"},"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":0.9976000189781189,"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":0.9729999899864197,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7327173352241516},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6911654472351074},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.5472615957260132},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5155832171440125},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5116432309150696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4655490815639496},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46143460273742676},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4599570035934448},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.42402833700180054},{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.4183483123779297},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4119827449321747},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3721361458301544},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3653518855571747},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3585609793663025},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3134920001029968},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14255249500274658}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7327173352241516},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6911654472351074},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.5472615957260132},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5155832171440125},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5116432309150696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4655490815639496},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46143460273742676},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4599570035934448},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.42402833700180054},{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.4183483123779297},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4119827449321747},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3721361458301544},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3653518855571747},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3585609793663025},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3134920001029968},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14255249500274658},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1080/01691864.2016.1202137","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01691864.2016.1202137","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G6925010855","display_name":null,"funder_award_id":"NSC102-2221-E-008-085-MY3","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1943296169","https://openalex.org/W1978911987","https://openalex.org/W2043727402","https://openalex.org/W2051287096","https://openalex.org/W2057892472","https://openalex.org/W2062940189","https://openalex.org/W2064171945","https://openalex.org/W2099657214","https://openalex.org/W2100475643","https://openalex.org/W2101672348","https://openalex.org/W2104963352","https://openalex.org/W2128967980","https://openalex.org/W2137685044","https://openalex.org/W2149407815","https://openalex.org/W2153195058","https://openalex.org/W2545165891"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W3044674998","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2151682110","https://openalex.org/W2778262232","https://openalex.org/W2910269320","https://openalex.org/W2025425864"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"and":[3,26,97,116,130,146,182],"implements":[4],"a":[5,11,27,45,52,65,197,200],"real-time":[6,157],"robust":[7,36],"balance":[8,158],"control":[9,37,159],"for":[10,160],"humanoid":[12],"robot":[13,34,60,83,111,162,176,194],"under":[14,163,184],"three":[15,70,164],"environment":[16,165,188],"disturbances":[17],"which":[18,68],"are":[19],"an":[20,23,40],"external":[21,41],"thrust,":[22,42],"inclinable":[24,47],"platform,":[25,48],"see-saw.":[28],"More":[29],"precisely":[30],"to":[31,101,124,139,168],"say,":[32],"the":[33,59,75,78,82,86,89,94,103,110,126,131,135,140,144,152,161,169,172,175,185,193],"with":[35],"can":[38,84],"resist":[39],"stand":[43],"on":[44,51,196],"two-axis":[46],"or":[49],"walk":[50],"see-saw":[53,198],"successfully.":[54],"The":[55,106],"main":[56],"feature":[57],"of":[58,72,77,88,109,128,134,174,203],"is":[61,177],"that":[62],"it":[63],"has":[64,69,199],"waist":[66,95],"joint":[67,96],"degrees":[71],"freedom.":[73],"With":[74],"aids":[76],"proposed":[79,153],"fuzzy":[80,154],"controllers,":[81],"change":[85],"posture":[87],"body":[90],"nimbly":[91],"by":[92,147],"adjusting":[93],"two":[98,187],"ankle":[99],"joints":[100],"strengthen":[102],"stabilization":[104],"capacity.":[105],"sensory":[107],"system":[108],"includes":[112],"eight":[113],"force":[114],"sensors":[115,145],"one":[117],"inertial":[118],"measurement":[119],"unit":[120],"sensor":[121],"in":[122],"order":[123],"measure":[125],"center":[127],"pressure":[129],"slant":[132],"angle":[133],"robot\u2019s":[136],"body.":[137],"According":[138,167],"measured":[141],"data":[142],"from":[143],"imitating":[148],"human":[149],"reflex":[150],"actions,":[151],"controllers":[155],"perform":[156],"disturbances.":[166],"experiment":[170],"results,":[171],"stability":[173],"increased":[178],"at":[179],"least":[180],"32.2":[181],"61.7%":[183],"first":[186],"disturbances,":[189],"respectively.":[190],"In":[191],"addition,":[192],"walking":[195],"success":[201],"rate":[202],"about":[204],"95%.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
