{"id":"https://openalex.org/W4403674486","doi":"https://doi.org/10.1109/access.2024.3485094","title":"External Force Adaptive Control in Legged Robots Through Footstep Optimization and Disturbance Feedback","display_name":"External Force Adaptive Control in Legged Robots Through Footstep Optimization and Disturbance Feedback","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4403674486","doi":"https://doi.org/10.1109/access.2024.3485094"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3485094","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3485094","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3485094","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012700184","display_name":"Jeonguk Kang","orcid":"https://orcid.org/0000-0001-9540-9172"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeonguk Kang","raw_affiliation_strings":["Korea Institute of Science and Technology (KIST), Seongbuk-gu, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-9540-9172","affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology (KIST), Seongbuk-gu, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069806436","display_name":"Hyunbin Kim","orcid":"https://orcid.org/0000-0002-5605-1152"},"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":false,"raw_author_name":"Hyun-Bin Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5605-1152","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114371609","display_name":"Byeong-Il Ham","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"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeong-Il Ham","raw_affiliation_strings":["Robotics Program, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0009-0001-7987-1137","affiliations":[{"raw_affiliation_string":"Robotics Program, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100719031","display_name":"Kyung-Soo Kim","orcid":"https://orcid.org/0000-0003-4856-1096"},"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":false,"raw_author_name":"Kyung-Soo Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4856-1096","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.3023,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.78693578,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"12","issue":null,"first_page":"157531","last_page":"157539"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.996999979019165,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/disturbance","display_name":"Disturbance (geology)","score":0.8150243759155273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6595982909202576},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6438993811607361},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6213847398757935},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.5442057847976685},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47620901465415955},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3547578454017639},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34948939085006714},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18879249691963196},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17644822597503662}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.8150243759155273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6595982909202576},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6438993811607361},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6213847398757935},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.5442057847976685},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47620901465415955},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3547578454017639},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34948939085006714},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18879249691963196},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17644822597503662},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3485094","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3485094","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:799bbc04d93c42dfbe61ff5bfbb1027d","is_oa":true,"landing_page_url":"https://doaj.org/article/799bbc04d93c42dfbe61ff5bfbb1027d","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 157531-157539 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3485094","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3485094","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.5699999928474426,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1530121035","https://openalex.org/W1979445726","https://openalex.org/W1980689933","https://openalex.org/W2055913619","https://openalex.org/W2067992648","https://openalex.org/W2111904757","https://openalex.org/W2122703221","https://openalex.org/W2133859362","https://openalex.org/W2151182239","https://openalex.org/W2201087437","https://openalex.org/W2218817948","https://openalex.org/W2512504484","https://openalex.org/W2539534359","https://openalex.org/W2585814306","https://openalex.org/W2593412525","https://openalex.org/W2600092780","https://openalex.org/W2736449616","https://openalex.org/W2795034878","https://openalex.org/W2803091459","https://openalex.org/W2889693550","https://openalex.org/W2908523403","https://openalex.org/W2909331752","https://openalex.org/W2909553221","https://openalex.org/W2938142681","https://openalex.org/W2968213087","https://openalex.org/W2972810470","https://openalex.org/W2981770500","https://openalex.org/W2982885935","https://openalex.org/W3175913924","https://openalex.org/W3211963501","https://openalex.org/W4205967660","https://openalex.org/W4250058668","https://openalex.org/W4289829174","https://openalex.org/W4312655650","https://openalex.org/W4352976967","https://openalex.org/W4383108368","https://openalex.org/W4385732121","https://openalex.org/W4387415230","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2969358681","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"This":[0,58],"article":[1],"studies":[2],"a":[3,14,41],"robust":[4],"controller":[5,21],"capable":[6],"of":[7,53,90,121],"responding":[8],"to":[9,13,27,50,63,69,81,101,118],"external":[10,25,70,114],"forces":[11,26],"applied":[12],"quadruped":[15],"robot.":[16],"Unlike":[17],"conventional":[18],"methods,":[19],"our":[20],"utilizes":[22],"information":[23,49],"about":[24],"achieve":[28],"better":[29],"performance.":[30],"We":[31],"incorporate":[32],"disturbance":[33,103],"feedback":[34],"into":[35],"the":[36,46,54,61,88,122],"robot":[37,62,123],"dynamics":[38],"and":[39,76,108],"calculate":[40],"balancing":[42],"index":[43],"that":[44],"considers":[45],"estimated":[47],"force":[48,92],"ensure":[51],"coverage":[52],"robot\u2019s":[55],"support":[56],"polygon.":[57],"approach":[59],"allows":[60],"adjust":[64],"its":[65],"legs":[66],"in":[67,124],"response":[68],"forces,":[71,75],"redistribute":[72],"ground":[73],"reaction":[74],"enhance":[77,105],"stability,":[78],"enabling":[79],"it":[80,86],"handle":[82],"greater":[83],"pressures.":[84],"Additionally,":[85],"increases":[87],"amount":[89],"traction":[91],"generated":[93],"while":[94],"maintaining":[95],"posture.":[96],"These":[97],"capabilities":[98],"are":[99],"expected":[100],"maximize":[102],"resilience,":[104],"task":[106],"performance,":[107],"improve":[109],"stability":[110],"during":[111],"interactions":[112],"with":[113],"environments,":[115],"ultimately":[116],"contributing":[117],"improved":[119],"mobility":[120],"real-world":[125],"scenarios.":[126]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
