{"id":"https://openalex.org/W2043588846","doi":"https://doi.org/10.1109/cca.2010.5611326","title":"Locomotion control of a biped robot for stair-climbing by fuzzy stabilization tuning approach","display_name":"Locomotion control of a biped robot for stair-climbing by fuzzy stabilization tuning approach","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W2043588846","doi":"https://doi.org/10.1109/cca.2010.5611326","mag":"2043588846"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2010.5611326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","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/A5068665674","display_name":"Jonqlan Lin","orcid":"https://orcid.org/0000-0001-5415-4599"},"institutions":[{"id":"https://openalex.org/I165106657","display_name":"Chien Hsin University of Science and Technology","ror":"https://ror.org/05fbv4544","country_code":"TW","type":"education","lineage":["https://openalex.org/I165106657"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"J. Lin","raw_affiliation_strings":["Department of Mechanical Engineering, Ching Yun University of Technology, Jung Li, Taiwan","Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Rd., Jung-Li, Taiwan 320, ROC"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ching Yun University of Technology, Jung Li, Taiwan","institution_ids":["https://openalex.org/I165106657"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Ching Yun University, 229, Chien-Hsin Rd., Jung-Li, Taiwan 320, ROC","institution_ids":["https://openalex.org/I165106657"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103821688","display_name":"Julian Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Julian Chang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S.M. Lyu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035152246","display_name":"S.W. Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"S.W. Wang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5017733230","display_name":"Yanxin Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Y.W. Lin","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5068665674"],"corresponding_institution_ids":["https://openalex.org/I165106657"],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66202345,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1590","last_page":"1595"},"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":0.9907000064849854,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9621000289916992,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.797664999961853},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7042695879936218},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5675897598266602},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5485450029373169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5455916523933411},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5259349942207336},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5049582123756409},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5033206343650818},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.463636577129364},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.431729257106781},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2876286804676056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28662845492362976},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20690670609474182}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.797664999961853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7042695879936218},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5675897598266602},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5485450029373169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5455916523933411},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5259349942207336},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5049582123756409},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5033206343650818},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.463636577129364},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.431729257106781},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2876286804676056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28662845492362976},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20690670609474182},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2010.5611326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2010.5611326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Control Applications","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1996511732","https://openalex.org/W2021512411","https://openalex.org/W2021577290","https://openalex.org/W2036919073","https://openalex.org/W2045017196","https://openalex.org/W2115721138","https://openalex.org/W2117004895","https://openalex.org/W2122903487","https://openalex.org/W2126966604","https://openalex.org/W2127763473","https://openalex.org/W2135393140","https://openalex.org/W2145944877","https://openalex.org/W2152475319","https://openalex.org/W2159401852","https://openalex.org/W2165778222"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"Zero-Moment":[0],"Point":[1],"(ZMP)":[2],"is":[3,9,31,76,140,163],"the":[4,13,21,24,28,70,92,102,116,151,154,161,167,188,193],"most":[5],"popular":[6],"concept":[7,126],"that":[8,61,149],"applied":[10],"to":[11,41,64,77,186],"stabilize":[12],"gait":[14,59],"motion":[15,84],"of":[16,23,66,73,94,101,104,119,153,160,180,192],"a":[17,37,48,67,108,171,178],"biped":[18,89,105,110,155,168],"robot.":[19],"However,":[20],"computation":[22],"ZMP":[25],"position":[26],"and":[27,34,134,175,190],"dynamic":[29,109,131,147],"model":[30],"highly":[32],"complex,":[33],"so":[35],"requires":[36],"considerable":[38],"time.":[39],"Therefore,":[40],"eliminate":[42],"complex":[43],"computation,":[44],"this":[45,74],"work":[46],"designs":[47],"new":[49],"locomotion":[50,90,106,135],"control":[51,96,121,139,144],"system":[52,162],"for":[53,146],"humanoid":[54],"robots,":[55],"which":[56],"yields":[57],"walking":[58,79],"characteristics":[60,80],"are":[62,184],"similar":[63],"those":[65],"human.":[68],"Accordingly,":[69],"first":[71],"goal":[72],"study":[75],"elucidate":[78],"by":[81,115,165],"measuring":[82],"human":[83],"during":[85],"locomotion.":[86],"It":[87],"analyzes":[88],"from":[91],"perspective":[93],"torque":[95],"at":[97],"each":[98],"joint.":[99],"Because":[100],"complexity":[103],"systems,":[107],"law":[111],"cannot":[112],"be":[113,128],"realized":[114],"direct":[117],"application":[118],"modern":[120],"theory.":[122],"Hence,":[123],"fuzzy":[124,138,195],"logic":[125],"will":[127],"adopted":[129],"in":[130],"stabilization":[132,148,196],"analysis":[133],"control.":[136],"The":[137,158],"based":[141],"on":[142,170],"coordination":[143],"rules":[145],"govern":[150],"actions":[152],"robot":[156],"link.":[157],"performance":[159],"evaluated":[164],"making":[166],"walk":[169],"horizontal":[172],"plane":[173],"surface":[174],"climbing":[176],"up":[177],"flight":[179],"stairs.":[181],"Experimental":[182],"results":[183],"presented":[185],"confirm":[187],"effectiveness":[189],"applicability":[191],"proposed":[194],"tuning":[197],"approach.":[198]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}