{"id":"https://openalex.org/W2007243024","doi":"https://doi.org/10.1109/humanoids.2012.6651602","title":"Reflexive step-out control superposed on standing stabilization of biped robots","display_name":"Reflexive step-out control superposed on standing stabilization of biped robots","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2007243024","doi":"https://doi.org/10.1109/humanoids.2012.6651602","mag":"2007243024"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020961445","display_name":"Tomomichi Sugihara","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Tomomichi Sugihara","raw_affiliation_strings":["School of Engineering, Osaka University, Osaka, Japan","School of Engineering, Osaka University, Suita, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"School of Engineering, Osaka University, Suita, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5020961445"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":1.2911,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.75941247,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"4","issue":null,"first_page":"741","last_page":"746"},"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":0.987500011920929,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9782999753952026,"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/robot","display_name":"Robot","score":0.6791636943817139},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5968561172485352},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5050747990608215},{"id":"https://openalex.org/keywords/reflexivity","display_name":"Reflexivity","score":0.44125938415527344},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4279963970184326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17916589975357056}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6791636943817139},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5968561172485352},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5050747990608215},{"id":"https://openalex.org/C13200473","wikidata":"https://www.wikidata.org/wiki/Q2747831","display_name":"Reflexivity","level":2,"score":0.44125938415527344},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4279963970184326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17916589975357056},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651602","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651602","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","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":21,"referenced_works":["https://openalex.org/W105581013","https://openalex.org/W371556439","https://openalex.org/W1994275787","https://openalex.org/W2024714232","https://openalex.org/W2036484113","https://openalex.org/W2060341751","https://openalex.org/W2065326178","https://openalex.org/W2072241589","https://openalex.org/W2118840382","https://openalex.org/W2138316469","https://openalex.org/W2140285140","https://openalex.org/W2142992961","https://openalex.org/W2143982885","https://openalex.org/W2154960471","https://openalex.org/W2159648705","https://openalex.org/W2477477970","https://openalex.org/W2480806076","https://openalex.org/W2539534359","https://openalex.org/W6604225776","https://openalex.org/W6682822744","https://openalex.org/W6683417200"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W4293241344","https://openalex.org/W2361927408","https://openalex.org/W3215481272","https://openalex.org/W3216203496","https://openalex.org/W3217021367","https://openalex.org/W3001001525","https://openalex.org/W2095962685","https://openalex.org/W3031528029","https://openalex.org/W2941133393"],"abstract_inverted_index":{"A":[0],"novel":[1],"step-out":[2,35,129,194],"controller":[3,11,203],"which":[4,50,89,154,187,205],"is":[5,25,77,103,117,179,195],"superposed":[6],"on":[7,59,106,181,204],"the":[8,28,31,44,47,70,73,99,112,123,132,137,146,150,162,167,182,193,206,209],"stationary":[9,113],"standing":[10,85],"and":[12,61,86,166,208],"enables":[13,188],"an":[14,56],"automatic":[15],"transition":[16,62],"to":[17,63,119,126,141,144,156,190],"such":[18,83],"a":[19,38,93,107,201],"reflexive":[20],"behavior":[21],"in":[22,27,41,111,122,131],"emergency":[23,133],"cases":[24],"proposed":[26],"framework":[29],"of":[30,43,46,72,101,164,171],"dynamics":[32],"morphing.":[33],"The":[34],"motion":[36,48,130],"has":[37],"distinctive":[39],"property":[40],"spite":[42],"simpleness":[45],"itself,":[49],"requires":[51],"temporarily":[52],"inconsistent":[53],"escapement":[54],"from":[55,80],"equilibrium":[57,66],"point":[58,67],"purpose":[60],"another":[64],"stable":[65,184],"produced":[68],"by":[69],"enlargement":[71],"supporting":[74],"region.":[75],"It":[76],"largely":[78],"different":[79],"steady":[81],"motions":[82],"as":[84],"periodic":[87],"stepping,":[88],"keep":[90],"stability":[91],"around":[92],"fixed":[94],"point.":[95],"In":[96],"our":[97],"scheme,":[98],"position":[100],"ZMP":[102],"determined":[104],"based":[105,180],"linear":[108],"state":[109],"feedback":[110],"phase,":[114],"while":[115],"it":[116,139],"forced":[118],"be":[120,142],"positioned":[121],"pivot":[124],"sole":[125],"emerge":[127],"instantaneous":[128],"phase.":[134],"Immediately":[135],"after":[136],"landing,":[138],"returns":[140],"manipulated":[143],"stabilize":[145],"robot":[147],"again.":[148],"As":[149],"result,":[151],"two":[152],"requirements":[153],"tend":[155],"conflict":[157],"with":[158],"each":[159],"other,":[160],"namely,":[161],"stabilization":[163,207],"COM":[165],"dynamically":[168],"feasible":[169],"manipulation":[170],"reaction":[172],"forces,":[173],"are":[174,213],"concurrently":[175],"achieved.":[176],"Our":[177],"scheme":[178],"maximally":[183],"COM-ZMP":[185],"regulator,":[186],"one":[189],"judge":[191],"if":[192],"necessary":[196],"for":[197],"fall-prevention,":[198],"so":[199],"that":[200],"complete":[202],"emergent":[210],"disequilibrating":[211],"maneuver":[212],"compatible":[214],"was":[215],"implemented.":[216]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}