{"id":"https://openalex.org/W2069485510","doi":"https://doi.org/10.1108/ir-03-2014-0311","title":"Step-exchange strategy for balance control of a walking biped under a lateral impact","display_name":"Step-exchange strategy for balance control of a walking biped under a lateral impact","publication_year":2014,"publication_date":"2014-08-12","ids":{"openalex":"https://openalex.org/W2069485510","doi":"https://doi.org/10.1108/ir-03-2014-0311","mag":"2069485510"},"language":"en","primary_location":{"id":"doi:10.1108/ir-03-2014-0311","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2014-0311","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/A5084984136","display_name":"Yeoun-Jae Kim","orcid":"https://orcid.org/0000-0002-5872-3901"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yeoun-Jae Kim","raw_affiliation_strings":["Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Korea","Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Robotics Program, Korea Advanced Institute of Science and Technology, Daejeon, Korea#TAB#","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058099040","display_name":"Joon\u2010Yong Lee","orcid":"https://orcid.org/0000-0002-5864-8518"},"institutions":[{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]},{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Joon-Yong Lee","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa, USA","Department of Genetics, Development, and Cell Biology, Iowa State University, Ames, Iowa, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa, USA","institution_ids":["https://openalex.org/I173911158"]},{"raw_affiliation_string":"Department of Genetics, Development, and Cell Biology, Iowa State University, Ames, Iowa, USA","institution_ids":["https://openalex.org/I173911158"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025920430","display_name":"Ju-Jang Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]},{"id":"https://openalex.org/I173911158","display_name":"Iowa State University","ror":"https://ror.org/04rswrd78","country_code":"US","type":"education","lineage":["https://openalex.org/I173911158"]}],"countries":["KR","US"],"is_corresponding":false,"raw_author_name":"Ju-Jang Lee","raw_affiliation_strings":["Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa, USA","Department of Electrical Engineering, Korea Advanced Institute of Science and Technology Daejeon Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, Korea","institution_ids":["https://openalex.org/I157485424"]},{"raw_affiliation_string":"Department of Genetics Development and Cell Biology, Iowa State University, Ames, Iowa, USA","institution_ids":["https://openalex.org/I173911158"]},{"raw_affiliation_string":"Department of Electrical Engineering, Korea Advanced Institute of Science and Technology Daejeon Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5084984136"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.11493153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"41","issue":"5","first_page":"456","last_page":"464"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9846000075340271,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9390000104904175,"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/biped-robot","display_name":"Biped robot","score":0.7192552089691162},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6641009449958801},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6339242458343506},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.583173930644989},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.525327205657959},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5021765232086182},{"id":"https://openalex.org/keywords/lift","display_name":"Lift (data mining)","score":0.4739432632923126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45115789771080017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3764805197715759},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26896432042121887},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1225651204586029},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11601105332374573}],"concepts":[{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.7192552089691162},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6641009449958801},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6339242458343506},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.583173930644989},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.525327205657959},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5021765232086182},{"id":"https://openalex.org/C139002025","wikidata":"https://www.wikidata.org/wiki/Q3001212","display_name":"Lift (data mining)","level":2,"score":0.4739432632923126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45115789771080017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3764805197715759},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26896432042121887},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1225651204586029},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11601105332374573},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-03-2014-0311","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-03-2014-0311","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/W1976563757","https://openalex.org/W2018265839","https://openalex.org/W2082551964","https://openalex.org/W2084871167","https://openalex.org/W2101672348","https://openalex.org/W2107618938","https://openalex.org/W2108426047","https://openalex.org/W2118812426","https://openalex.org/W2120553010","https://openalex.org/W2122410182","https://openalex.org/W2122458271","https://openalex.org/W2125693771","https://openalex.org/W2142992961","https://openalex.org/W2151621026","https://openalex.org/W2154748236","https://openalex.org/W2161870633","https://openalex.org/W2169738905","https://openalex.org/W2324295258","https://openalex.org/W2539534359"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W4390479742","https://openalex.org/W2097240936","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W2968985559","https://openalex.org/W4318681801","https://openalex.org/W2510926320","https://openalex.org/W1549943573","https://openalex.org/W4251281889"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,148,200,308,416],"This":[2,46,279],"paper":[3,316],"aims":[4],"to":[5,40,52,97,113,120,141,214,218,234,273,291,392],"present":[6],"a":[7,14,19,41,50,138,172,179,191,206,211,220,225,231,256,412,429,452],"step-exchange":[8,110,152,203,246,311,401,423,467],"strategy":[9,26,48,111,204,247,280,312,402,424,437,447],"for":[10,31,137,169,230,251,383,425],"balance":[11,32,61,106,117,216,253,426],"control":[12,33,427],"of":[13,395,428],"walking":[15,99,143,207,236,430,463],"biped":[16,42,139,180,193,208,232,257,431,453],"robot":[17,43,51,140,181,194,209,233,258,432,454],"when":[18,34,300,323,357],"lateral":[20,37,212,434],"impact":[21,55,213,389],"acts":[22,39,391],"suddenly.":[23],"A":[24],"step-out":[25,47],"has":[27],"been":[28],"recently":[29],"proposed":[30,109,151,177,202,245,310,422],"an":[35,301,388],"unknown":[36],"force":[38,303,326,360,385,390],"during":[44],"walking.":[45],"causes":[49],"absorb":[53],"the":[54,70,76,83,91,104,108,125,150,176,244,270,275,297,321,324,330,333,337,341,345,355,358,366,370,374,378,393,396,399,421,445,466],"kinetic":[56],"energy":[57,160],"and":[58,90,159,188,217,284,340,373,440],"efficiently":[59],"maintain":[60,116],"without":[62,237],"falling":[63],"down.":[64],"Nevertheless,":[65],"it":[66,94,134,268,349,458],"was":[67,186],"found":[68,242],"that":[69,75,133,243],"previous":[71],"strategies":[72],"have":[73,419],"drawbacks":[74],"two":[77],"foots":[78],"should":[79],"always":[80],"be":[81,249,318,352,455],"on":[82],"ground":[84],"(double-support":[85],"mode)":[86,128],"after":[87,100,129,144,223],"being":[88,101,130,145],"balanced":[89,131,456],"authors":[92,406,418],"think":[93],"is":[95,112,135,167,228,241,259,269,281,304,327,336,344,361,369,377,403,438],"difficult":[96],"continue":[98,235,462],"balanced.":[102,146],"Unlike":[103],"existing":[105],"strategies,":[107],"not":[114,449],"only":[115,450],"but":[118,457],"also":[119,197,289,351,460],"lift":[121],"one":[122],"leg":[123,335,339,343,368,372,376,380],"in":[124,314,320,329,354,363,442],"air":[126],"(single-support":[127],"so":[132],"easy":[136],"keep":[142,215,219],"Design/methodology/approach":[147],"In":[149],"strategy,":[153,178],"forward":[154],"Newton\u2013Euler":[155],"equation,":[156],"angular":[157],"momentum":[158],"conservation":[161],"equation":[162],"were":[163,196],"derived.":[164],"Hill-climbing":[165],"algorithm":[166],"utilized":[168],"numerically":[170],"finding":[171],"solution.":[173],"To":[174],"verify":[175],"by":[182,464],"Open":[183],"Dynamics":[184],"Engine":[185],"stimulated,":[187],"experiments":[189],"with":[190,444],"real":[192],"(LRH-1)":[195],"conducted.":[198],"Findings":[199],"The":[201,309,405,417,436],"enables":[205],"under":[210,433],"single-support":[221],"mode":[222],"exchanging":[224],"leg.":[226],"It":[227,240],"helpful":[229],"any":[238],"stop.":[239],"can":[248,317,350,451,459],"applicable":[250,319,353],"maintaining":[252],"even":[254],"if":[255],"moving.":[260],"Even":[261],"though":[262],"this":[263,315,409],"proposal":[264],"seems":[265],"immature":[266],"yet,":[267],"first":[271],"attempt":[272],"exchange":[274,292],"supporting":[276,294],"foot":[277,295],"itself.":[278],"very":[282],"straightforward":[283],"intuitive":[285],"because":[286,448],"humans":[287],"are":[288,407],"likely":[290],"their":[293],"onto":[296],"opposite":[298],"side":[299,394],"unexpected":[302],"acting.":[305],"Research":[306],"limitations/implications":[307],"described":[313],"situation":[322,356],"external":[325,359],"applied":[328,362],"+Y":[331],"direction,":[332,365],"left":[334,375],"swing":[338,371,397],"right":[342,367],"stance":[346,379],"leg,":[347,398],"or":[348],"\u2212Y":[364],"(Figure":[381],"2":[382],"\u00b1Y":[384],"direction).":[386],"If":[387],"other":[400],"needed.":[404],"studying":[408],"issue":[410],"as":[411],"future":[413],"work.":[414],"Originality/value":[415],"originated":[420],"impact.":[435],"genuine":[439],"superior":[441],"comparison":[443],"state-of-the-art":[446],"easily":[461],"using":[465],"strategy.":[468]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}