{"id":"https://openalex.org/W2040877910","doi":"https://doi.org/10.1109/iceee.2011.6106575","title":"Numerical analysis of the sliding effects of a 5-DOF biped robot","display_name":"Numerical analysis of the sliding effects of a 5-DOF biped robot","publication_year":2011,"publication_date":"2011-10-01","ids":{"openalex":"https://openalex.org/W2040877910","doi":"https://doi.org/10.1109/iceee.2011.6106575","mag":"2040877910"},"language":"en","primary_location":{"id":"doi:10.1109/iceee.2011.6106575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2011.6106575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control","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/A5053058397","display_name":"J. A. V\u00e1zquez","orcid":"https://orcid.org/0000-0003-3848-623X"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"J. A. Vazquez","raw_affiliation_strings":["Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, CINVESTAV-IPN, Mexico, Distrito Federal, Mexico","CINVESTAV-IPN, Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, A.P. 14-740, 07000, M\u00e9xico D.F., M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, CINVESTAV-IPN, Mexico, Distrito Federal, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"CINVESTAV-IPN, Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, A.P. 14-740, 07000, M\u00e9xico D.F., M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076705291","display_name":"M. Velasco\u2010Villa","orcid":"https://orcid.org/0000-0003-2953-0964"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Center for Research and Advanced Studies of the National Polytechnic Institute","ror":"https://ror.org/009eqmr18","country_code":"MX","type":"facility","lineage":["https://openalex.org/I59361560","https://openalex.org/I68368234"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"M. Velasco-Villa","raw_affiliation_strings":["Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, CINVESTAV-IPN, Mexico, Distrito Federal, Mexico","CINVESTAV-IPN, Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, A.P. 14-740, 07000, M\u00e9xico D.F., M\u00e9xico"],"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, CINVESTAV-IPN, Mexico, Distrito Federal, Mexico","institution_ids":["https://openalex.org/I68368234"]},{"raw_affiliation_string":"CINVESTAV-IPN, Departamento de Ingenier\u00eda El\u00e9ctrica, Secci\u00f3n de Mecatr\u00f3nica, A.P. 14-740, 07000, M\u00e9xico D.F., M\u00e9xico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053058397"],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.21190633,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.56650572,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9854000210762024,"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":0.9656000137329102,"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/slipping","display_name":"Slipping","score":0.8150312900543213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7685484886169434},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6166948676109314},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6159384846687317},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5503513216972351},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5278964638710022},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5239738821983337},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.47703832387924194},{"id":"https://openalex.org/keywords/surface","display_name":"Surface (topology)","score":0.4402194321155548},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.42166250944137573},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3650708794593811},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26307934522628784},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23429936170578003},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1703552007675171},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13560369610786438},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13362833857536316},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09339410066604614}],"concepts":[{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.8150312900543213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7685484886169434},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6166948676109314},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6159384846687317},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5503513216972351},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5278964638710022},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5239738821983337},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.47703832387924194},{"id":"https://openalex.org/C2776799497","wikidata":"https://www.wikidata.org/wiki/Q484298","display_name":"Surface (topology)","level":2,"score":0.4402194321155548},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.42166250944137573},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3650708794593811},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26307934522628784},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23429936170578003},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1703552007675171},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13560369610786438},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13362833857536316},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09339410066604614},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iceee.2011.6106575","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2011.6106575","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 8th International Conference on Electrical Engineering, Computing Science and Automatic Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.699999988079071,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1492456213","https://openalex.org/W1496777766","https://openalex.org/W1522754958","https://openalex.org/W1535422344","https://openalex.org/W2051287096","https://openalex.org/W2070038508","https://openalex.org/W2085746528","https://openalex.org/W2098787727","https://openalex.org/W2127763473","https://openalex.org/W2128198426","https://openalex.org/W2132030382","https://openalex.org/W2136605942","https://openalex.org/W2137547873","https://openalex.org/W2171257467"],"related_works":["https://openalex.org/W3141131632","https://openalex.org/W2084206618","https://openalex.org/W2161039994","https://openalex.org/W3167844684","https://openalex.org/W4386154653","https://openalex.org/W2800387041","https://openalex.org/W2837391606","https://openalex.org/W4389155065","https://openalex.org/W3110003679","https://openalex.org/W1964931922"],"abstract_inverted_index":{"When":[0],"dealing":[1],"with":[2],"biped":[3,102],"robots":[4],"it":[5],"is":[6,29,84,109,128,143],"common":[7,32],"to":[8,17,116],"consider":[9],"a":[10,30,53,101,111,123,135,139],"set":[11],"of":[12,91,96,100,134,149],"specific":[13],"assumptions":[14],"in":[15,61,114,138],"order":[16,115],"analyze":[18],"the":[19,26,39,43,47,57,75,79,87,92,97,118,131,150,155],"complete":[20],"walking":[21,48,58,106],"cycle.":[22],"Among":[23],"other":[24],"assumptions,":[25],"non-slipping":[27],"condition":[28],"very":[31],"working":[33],"hypothesis.":[34],"This":[35,82],"fact":[36,71],"implies":[37],"that":[38],"contact":[40,80,94],"point":[41,95],"between":[42,78],"supporting":[44,93],"leg":[45,99],"and":[46,104],"surface":[49,142],"does":[50],"not":[51],"have":[52],"relative":[54],"displacement":[55],"along":[56],"axis.":[59],"Although,":[60],"some":[62],"practical":[63],"situations,":[64],"this":[65,70],"movement":[66],"could":[67],"be":[68],"neglected,":[69],"mainly":[72],"depends":[73],"on":[74,86,122,146,154],"friction":[76,141],"characteristics":[77],"points.":[81],"work":[83],"focused":[85],"slip":[88],"dynamic":[89],"analysis":[90],"stance":[98],"robot":[103],"its":[105],"surface.":[107],"It":[108,127],"considered":[110,153],"finite-time":[112],"controller":[113],"solve":[117],"path-tracking":[119,156],"problem":[120],"based":[121],"Cartesian":[124],"reference":[125,152],"trajectory.":[126],"shown":[129],"how":[130],"primary":[132],"effect":[133],"sliding":[136],"situation":[137],"low":[140],"reflected":[144],"directly":[145],"an":[147],"actualization":[148],"desired":[151],"problem.":[157]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}