{"id":"https://openalex.org/W2907894421","doi":"https://doi.org/10.1109/icarcv.2018.8581061","title":"Gait Controllers on Humanoid Robot Using Kalman Filter and PD Controller","display_name":"Gait Controllers on Humanoid Robot Using Kalman Filter and PD Controller","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2907894421","doi":"https://doi.org/10.1109/icarcv.2018.8581061","mag":"2907894421"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5101617827","display_name":"Martin Martin","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Martin","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112407854","display_name":"Dewi Indriati Hadi Putri","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Dewi Indriati Hadi Putri","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009306142","display_name":"Riyanto Riyanto","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Riyanto","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057802496","display_name":"Carmadi Machbub","orcid":null},"institutions":[{"id":"https://openalex.org/I134635517","display_name":"Bandung Institute of Technology","ror":"https://ror.org/00apj8t60","country_code":"ID","type":"education","lineage":["https://openalex.org/I134635517"]}],"countries":["ID"],"is_corresponding":false,"raw_author_name":"Carmadi Machbub","raw_affiliation_strings":["School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Informatics, Bandung Institute of Technology, Indonesia","institution_ids":["https://openalex.org/I134635517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134635517"],"apc_list":null,"apc_paid":null,"fwci":1.0035,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.75299107,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"36","last_page":"41"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9972000122070312,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9747999906539917,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7721466422080994},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7349788546562195},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6264587640762329},{"id":"https://openalex.org/keywords/overshoot","display_name":"Overshoot (microwave communication)","score":0.5990806818008423},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5828810930252075},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5327508449554443},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48616620898246765},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.4573177695274353},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4415935277938843},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.41509032249450684},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35743850469589233},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3505840301513672},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27081796526908875},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08113721013069153}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7721466422080994},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7349788546562195},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6264587640762329},{"id":"https://openalex.org/C2780323453","wikidata":"https://www.wikidata.org/wiki/Q7113957","display_name":"Overshoot (microwave communication)","level":2,"score":0.5990806818008423},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5828810930252075},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5327508449554443},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48616620898246765},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.4573177695274353},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4415935277938843},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.41509032249450684},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35743850469589233},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3505840301513672},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27081796526908875},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08113721013069153},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2018.8581061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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":24,"referenced_works":["https://openalex.org/W1967449903","https://openalex.org/W2016900895","https://openalex.org/W2022579726","https://openalex.org/W2042407741","https://openalex.org/W2097568396","https://openalex.org/W2102568724","https://openalex.org/W2104009208","https://openalex.org/W2105944614","https://openalex.org/W2110104484","https://openalex.org/W2125393905","https://openalex.org/W2133859362","https://openalex.org/W2142569028","https://openalex.org/W2143613605","https://openalex.org/W2145788561","https://openalex.org/W2145938889","https://openalex.org/W2146138727","https://openalex.org/W2149458524","https://openalex.org/W2154748236","https://openalex.org/W2155916220","https://openalex.org/W2166429996","https://openalex.org/W2775125703","https://openalex.org/W2805600270","https://openalex.org/W6656016191","https://openalex.org/W6681158678"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2606527650","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W4236591128","https://openalex.org/W2034988786","https://openalex.org/W2220923292"],"abstract_inverted_index":{"Humanoid":[0],"robot":[1,52,68,167],"has":[2,200],"a":[3,12,20,62,97],"structure":[4],"that":[5],"can":[6],"be":[7,25],"shaped":[8],"or":[9],"moved":[10],"like":[11,19],"human,":[13,21],"but":[14],"in":[15,93,157,168,173],"order":[16,94],"to":[17,24,29,43,64,77,95,110,115,148,164],"walk":[18,101],"it":[22],"needs":[23],"given":[26],"the":[27,31,36,45,50,54,66,72,79,83,117,121,137,141,154,166,169,174,178,187,195,207],"controller":[28,40,138,162],"correct":[30],"posture":[32,46],"and":[33,47,53,100,114,132,146,190,210],"gait":[34,48],"on":[35,102,186,194],"robot.":[37,85],"The":[38,160,198],"PD":[39,161],"is":[41,59,75,125],"used":[42,60,90,109,126],"control":[44],"of":[49,56,71,82,130,182,184,192,203],"humanoid":[51,67,84],"Center":[55],"Mass":[57],"(COM)":[58],"as":[61,127],"feedback":[63],"keep":[65],"stable.":[69],"Determination":[70],"stability":[73],"criteria":[74],"performed":[76],"determine":[78],"stable":[80,98],"state":[81],"In":[86],"this":[87],"study,":[88],"we":[89],"Bioloid":[91,158],"GP":[92],"get":[96],"stand":[99],"uneven":[103],"surface":[104],"conditions.":[105],"IMU":[106],"sensors":[107],"are":[108],"read":[111],"COM":[112],"angles":[113],"increase":[116],"readability":[118],"accuracy,":[119],"while":[120],"Kalman":[122],"filter":[123],"method":[124],"an":[128],"estimate":[129],"error":[131,142],"white":[133],"noise":[134],"filter.":[135],"Furthermore,":[136],"will":[139],"calculate":[140],"between":[143],"sensor":[144],"readings":[145],"setpoints":[147],"obtain":[149],"angle":[150],"correction":[151],"value":[152],"for":[153,206,213],"servo":[155],"motor":[156],"GP.":[159],"successful":[163],"stabilize":[165],"single":[170],"slope":[171],"change":[172],"standing":[175],"area":[176],"with":[177],"experimental":[179],"result":[180],"response":[181,199],"0%":[183,191],"overshoot":[185,193],"pitch":[188],"axis":[189,209],"roll":[196],"axis.":[197,215],"2":[201],"second":[202],"rising":[204],"time":[205],"Pitch":[208],"2.5":[211],"seconds":[212],"Roll":[214]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
