{"id":"https://openalex.org/W2750630020","doi":"https://doi.org/10.1109/aim.2017.8014229","title":"Disturbance observer-based balance control of robotic biped walkers under slip","display_name":"Disturbance observer-based balance control of robotic biped walkers under slip","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2750630020","doi":"https://doi.org/10.1109/aim.2017.8014229","mag":"2750630020"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5110269926","display_name":"Yoshitaka Abe","orcid":null},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yoshitaka Abe","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101487974","display_name":"Kuo Chen","orcid":"https://orcid.org/0000-0001-6718-1086"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kuo Chen","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055436267","display_name":"Mitja Trkov","orcid":"https://orcid.org/0000-0001-8556-7214"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitja Trkov","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090869394","display_name":"Jingang Yi","orcid":"https://orcid.org/0000-0003-0628-9098"},"institutions":[{"id":"https://openalex.org/I102322142","display_name":"Rutgers, The State University of New Jersey","ror":"https://ror.org/05vt9qd57","country_code":"US","type":"education","lineage":["https://openalex.org/I102322142"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jingang Yi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ, USA","institution_ids":["https://openalex.org/I102322142"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014390830","display_name":"Seiichiro Katsura","orcid":"https://orcid.org/0000-0002-7487-0610"},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Seiichiro Katsura","raw_affiliation_strings":["Department of System Design Engineering, Keio University, Yokohama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of System Design Engineering, Keio University, Yokohama, Japan","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1313,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.49000076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1489","last_page":"1494"},"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":0.9969000220298767,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9656999707221985,"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/control-theory","display_name":"Control theory (sociology)","score":0.8276233673095703},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.7681072950363159},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.7226541042327881},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.7082539200782776},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6467872858047485},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5721623301506042},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5205525159835815},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.49386173486709595},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4568645656108856},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35522210597991943},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.3320309519767761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3105446994304657},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3068431615829468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1974349319934845},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11818841099739075},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10150319337844849},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06770133972167969},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06071731448173523}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8276233673095703},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.7681072950363159},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.7226541042327881},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7082539200782776},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6467872858047485},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5721623301506042},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5205525159835815},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.49386173486709595},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4568645656108856},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35522210597991943},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.3320309519767761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3105446994304657},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3068431615829468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1974349319934845},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11818841099739075},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10150319337844849},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06770133972167969},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06071731448173523},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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":1,"locations":[{"id":"doi:10.1109/aim.2017.8014229","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014229","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1490661502","https://openalex.org/W1504250964","https://openalex.org/W1504362584","https://openalex.org/W1516004744","https://openalex.org/W1795948447","https://openalex.org/W1895956511","https://openalex.org/W1945123189","https://openalex.org/W2047174209","https://openalex.org/W2096323098","https://openalex.org/W2118320757","https://openalex.org/W2132030382","https://openalex.org/W2137300190","https://openalex.org/W2140238971","https://openalex.org/W2143613605","https://openalex.org/W2161439626","https://openalex.org/W2161870633","https://openalex.org/W2381269752","https://openalex.org/W2460655373","https://openalex.org/W2499618356","https://openalex.org/W2736082483","https://openalex.org/W4242059591","https://openalex.org/W6677867452","https://openalex.org/W6680585183","https://openalex.org/W6684164338"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2141603307","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W2131265573","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2317650444"],"abstract_inverted_index":{"We":[0,68],"present":[1,69],"balance":[2],"recovery":[3,51],"control":[4,29,82],"of":[5],"bipedal":[6,22],"robotic":[7],"walkers":[8],"under":[9,24,75],"foot":[10],"slip":[11,25],"disturbance.":[12,26],"A":[13],"dynamic":[14],"model":[15],"is":[16,34],"first":[17],"presented":[18],"to":[19],"capture":[20],"the":[21,37,41,45,72,77],"locomotion":[23,66],"Two":[27],"different":[28],"approaches":[30],"are":[31,55],"presented:":[32],"one":[33,43],"based":[35],"on":[36],"feedback":[38,78],"linearization":[39],"and":[40,53,61,70,80],"second":[42],"uses":[44],"disturbance":[46],"observer":[47],"(DOB)":[48],"method.":[49],"The":[50],"strategies":[52],"profiles":[54],"designed":[56],"through":[57],"linear":[58],"inverted":[59],"models":[60],"inspired":[62],"by":[63],"human":[64],"walking":[65],"profiles.":[67],"compare":[71],"simulation":[73],"results":[74],"both":[76],"linearization-":[79],"DOB-based":[81],"designs.":[83]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}