{"id":"https://openalex.org/W3206691159","doi":"https://doi.org/10.1109/humanoids47582.2021.9555776","title":"Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode Observer","display_name":"Robust Balancing Control of a Spring-legged Robot based on a High-order Sliding Mode Observer","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3206691159","doi":"https://doi.org/10.1109/humanoids47582.2021.9555776","mag":"3206691159"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555776","is_oa":false,"landing_page_url":"http://doi.org/10.1109/humanoids47582.2021.9555776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","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/A5053619421","display_name":"Juan D. Gamba","orcid":"https://orcid.org/0000-0002-0283-1305"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Juan D. Gamba","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036871472","display_name":"Antonio C. Leite","orcid":"https://orcid.org/0000-0003-2617-196X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Antonio C. Leite","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5035226540","display_name":"Roy Featherstone","orcid":"https://orcid.org/0000-0002-6180-2846"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roy Featherstone","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5053619421"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1671,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45285817,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"15","issue":null,"first_page":"384","last_page":"391"},"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":0.9879999756813049,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9878000020980835,"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/control-theory","display_name":"Control theory (sociology)","score":0.8690904378890991},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6250349879264832},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5863248705863953},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5362936854362488},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.5191047191619873},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.5090596079826355},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.48503774404525757},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.467376172542572},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.46040332317352295},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4460764229297638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4212076961994171},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.41847431659698486},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.41518595814704895},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3379177451133728},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32571783661842346},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2461903691291809},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2406480610370636},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.184900164604187},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14745771884918213},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11260038614273071},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09261739253997803},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08209165930747986}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8690904378890991},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6250349879264832},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5863248705863953},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5362936854362488},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.5191047191619873},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.5090596079826355},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.48503774404525757},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.467376172542572},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.46040332317352295},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4460764229297638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4212076961994171},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.41847431659698486},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.41518595814704895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3379177451133728},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32571783661842346},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2461903691291809},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2406480610370636},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.184900164604187},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14745771884918213},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11260038614273071},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09261739253997803},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08209165930747986},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555776","is_oa":false,"landing_page_url":"http://doi.org/10.1109/humanoids47582.2021.9555776","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","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/W601642755","https://openalex.org/W1975093075","https://openalex.org/W1998173386","https://openalex.org/W2010276843","https://openalex.org/W2013232999","https://openalex.org/W2031945217","https://openalex.org/W2077895043","https://openalex.org/W2084030677","https://openalex.org/W2117933783","https://openalex.org/W2148356362","https://openalex.org/W2149224990","https://openalex.org/W2151328498","https://openalex.org/W2161427949","https://openalex.org/W2168164612","https://openalex.org/W2529062991","https://openalex.org/W2560658338","https://openalex.org/W2586228764","https://openalex.org/W2767233846","https://openalex.org/W2967571669","https://openalex.org/W3006891653","https://openalex.org/W3129463014","https://openalex.org/W3207123071","https://openalex.org/W4233339252","https://openalex.org/W6780106422"],"related_works":["https://openalex.org/W2117379282","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2123479323","https://openalex.org/W1973429430","https://openalex.org/W1989996768","https://openalex.org/W2354493725","https://openalex.org/W2117933783","https://openalex.org/W2560479139","https://openalex.org/W4282930489"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,26,32,45,56,92,138],"simulation":[4],"study":[5],"of":[6,79,132,153,183],"the":[7,16,52,62,69,74,98,114,123,130,133,146,154,169,179,184],"balancing":[8,83],"problem":[9],"for":[10,149],"monopod":[12],"robot":[13],"in":[14,68],"which":[15,55],"lower":[17],"body":[18],"(the":[19],"leg)":[20],"has":[21],"been":[22],"modified":[23],"to":[24,50,54,177],"include":[25],"passively":[27],"spring-loaded":[28,99],"prismatic":[29],"joint.":[30],"Such":[31],"mechanism":[33],"can":[34,39,59,88],"move":[35],"by":[36,136],"hopping":[37],"but":[38],"also":[40,128],"stand":[41],"and":[42,65,77,82,103,109,116,156,162,181],"balance":[43,57,134],"on":[44,84,145,168],"single":[46],"point.":[47],"We":[48,127],"aim":[49],"investigate":[51],"extent":[53],"controller":[58,124,135],"deal":[60],"with":[61],"large":[63],"values":[64],"rapid":[66],"changes":[67],"spring-damper":[70],"forces,":[71],"while":[72],"controlling":[73],"absolute":[75],"positions":[76],"orientations":[78],"its":[80,107],"parts":[81],"one":[85],"leg.":[86],"It":[87],"be":[89],"shown":[90],"that":[91,106],"good":[93],"performance":[94,180],"is":[95,101],"achieved":[96],"if":[97],"joint":[100],"instrumented":[102],"calibrated":[104],"so":[105],"position":[108],"velocity,":[110],"as":[111,113],"well":[112],"stiffness":[115,155],"damping":[117,157],"coefficients,":[118],"are":[119,165,175],"considered":[120],"when":[121],"calculating":[122],"state":[125],"variables.":[126],"demonstrate":[129],"effectiveness":[131],"adding":[137],"high-order":[139],"sliding":[140],"mode":[141],"(HOSM)":[142],"observer":[143],"based":[144,167],"finite-time":[147],"algorithm":[148],"robust":[150],"parameter":[151],"estimation":[152],"coefficients.":[158],"The":[159],"stability":[160,171],"analysis":[161],"convergence":[163],"proofs":[164],"presented":[166],"Lyapunov":[170],"theory.":[172],"Numerical":[173],"simulations":[174],"included":[176],"illustrate":[178],"feasibility":[182],"proposed":[185],"methodology.":[186]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}