{"id":"https://openalex.org/W1993852854","doi":"https://doi.org/10.1108/01439910910980231","title":"A coordinated control strategy for stable walking of biped robot with heterogeneous legs","display_name":"A coordinated control strategy for stable walking of biped robot with heterogeneous legs","publication_year":2009,"publication_date":"2009-08-21","ids":{"openalex":"https://openalex.org/W1993852854","doi":"https://doi.org/10.1108/01439910910980231","mag":"1993852854"},"language":"en","primary_location":{"id":"doi:10.1108/01439910910980231","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910980231","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","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/A5100455816","display_name":"Fei Wang","orcid":"https://orcid.org/0009-0002-3022-3101"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fei Wang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000383993","display_name":"Chengdong Wu","orcid":"https://orcid.org/0000-0001-9906-5493"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chengdong Wu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025144460","display_name":"Xinthe Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinthe Xu","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038287028","display_name":"Yunzhou Zhang","orcid":"https://orcid.org/0000-0003-0610-3732"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunzhou Zhang","raw_affiliation_strings":["Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#"],"affiliations":[{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"Institute of Artificial Intelligence and Robotics, Northeastern University, Shenyang, China#TAB#","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100455816"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.8894,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.74454229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"36","issue":"5","first_page":"503","last_page":"512"},"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":0.9988999962806702,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9703999757766724,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/biped-robot","display_name":"Biped robot","score":0.7886606454849243},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6085047721862793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5696990489959717},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5669932961463928},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4882984161376953},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40086984634399414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27623918652534485},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22019538283348083}],"concepts":[{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.7886606454849243},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6085047721862793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5696990489959717},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5669932961463928},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4882984161376953},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40086984634399414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27623918652534485},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22019538283348083}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/01439910910980231","is_oa":false,"landing_page_url":"https://doi.org/10.1108/01439910910980231","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1940087980","https://openalex.org/W2008213528","https://openalex.org/W2018991269","https://openalex.org/W2021274352","https://openalex.org/W2029058516","https://openalex.org/W2036299665","https://openalex.org/W2077458356","https://openalex.org/W2107063340","https://openalex.org/W2114812487","https://openalex.org/W2142992961","https://openalex.org/W2146396918","https://openalex.org/W2154238798","https://openalex.org/W2347795462","https://openalex.org/W2350232212","https://openalex.org/W2376401035","https://openalex.org/W2381912273","https://openalex.org/W2382117540","https://openalex.org/W2385269405","https://openalex.org/W2387342793"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W2141691317","https://openalex.org/W2110846987","https://openalex.org/W2160609742","https://openalex.org/W2979526210","https://openalex.org/W2004736176","https://openalex.org/W1997414638","https://openalex.org/W2031091109"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1],"The":[2],"purpose":[3],"of":[4,17,26],"this":[5],"paper":[6],"is":[7],"to":[8],"present":[9],"a":[10],"coordinated":[11],"control":[12],"strategy":[13],"for":[14],"stable":[15],"walking":[16],"biped":[18],"robot":[19],"with":[20],"heterogeneous":[21],"legs":[22],"(BRHL),":[23],"which":[24],"consists":[25],"artificial":[27],"leg":[28,33],"(AL)":[29],"and":[30],"intelligent":[31],"bionic":[32],"(IBL).":[34]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}