{"id":"https://openalex.org/W2557449293","doi":"https://doi.org/10.1109/iceee.2016.7751242","title":"Active Disturbance Rejection Control for humanoid stable walking","display_name":"Active Disturbance Rejection Control for humanoid stable walking","publication_year":2016,"publication_date":"2016-09-01","ids":{"openalex":"https://openalex.org/W2557449293","doi":"https://doi.org/10.1109/iceee.2016.7751242","mag":"2557449293"},"language":"en","primary_location":{"id":"doi:10.1109/iceee.2016.7751242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2016.7751242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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/A5077177366","display_name":"Santos M. Orozco-Soto","orcid":"https://orcid.org/0000-0001-6191-4306"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","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":"S. M. Orozco-Soto","raw_affiliation_strings":["Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047749522","display_name":"Rafael Stanley N\u00fa\u00f1ez-Cruz","orcid":"https://orcid.org/0000-0003-4539-6232"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","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":"R. S. Nunez-Cruz","raw_affiliation_strings":["Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062490362","display_name":"Juan Manuel Ibarra Zannatha","orcid":"https://orcid.org/0000-0002-0786-8326"},"institutions":[{"id":"https://openalex.org/I68368234","display_name":"Centro de Investigaci\u00f3n y de Estudios Avanzados del Instituto Polit\u00e9cnico Nacional","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":"J. M. Ibarra-Zannatha","raw_affiliation_strings":["Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Artificial Vision Laboratory Automatic Control Department, CINVESTAV, Mexico City, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68368234"],"apc_list":null,"apc_paid":null,"fwci":0.6823,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72160405,"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":"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":0.984499990940094,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8929286003112793},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7896075248718262},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7277481555938721},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.6946980357170105},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5529579520225525},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.5525380373001099},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.5352644920349121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301832556724548},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5134573578834534},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.4940946400165558},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44639715552330017},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.3895628750324249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.35068607330322266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3253687918186188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18845054507255554},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.17427027225494385},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.09654635190963745}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8929286003112793},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7896075248718262},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7277481555938721},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.6946980357170105},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5529579520225525},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.5525380373001099},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.5352644920349121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301832556724548},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5134573578834534},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.4940946400165558},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44639715552330017},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.3895628750324249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.35068607330322266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3253687918186188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18845054507255554},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.17427027225494385},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.09654635190963745},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/iceee.2016.7751242","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iceee.2016.7751242","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)","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":15,"referenced_works":["https://openalex.org/W110443781","https://openalex.org/W566530810","https://openalex.org/W1597752761","https://openalex.org/W1810362799","https://openalex.org/W2018265839","https://openalex.org/W2087050671","https://openalex.org/W2099003034","https://openalex.org/W2151182239","https://openalex.org/W2153190828","https://openalex.org/W2168377523","https://openalex.org/W2208481256","https://openalex.org/W2293043513","https://openalex.org/W2539594185","https://openalex.org/W6635597049","https://openalex.org/W6687886910"],"related_works":["https://openalex.org/W1859914877","https://openalex.org/W3129061494","https://openalex.org/W2529889974","https://openalex.org/W4382702321","https://openalex.org/W3098571475","https://openalex.org/W3203846806","https://openalex.org/W4309868962","https://openalex.org/W3035652546","https://openalex.org/W2972482874","https://openalex.org/W4200632775"],"abstract_inverted_index":{"This":[0,72],"paper":[1],"presents":[2],"an":[3],"application":[4],"of":[5,80],"the":[6,24,52,78],"active":[7],"disturbance":[8,68],"rejection":[9],"control":[10,20,36,73],"approach":[11],"for":[12],"humanoid":[13,82,99],"robot":[14,83,100],"stable":[15],"walking,":[16],"which":[17],"is":[18,49,61],"a":[19,81,97],"strategy":[21],"based":[22,50],"on":[23,51,77],"extended":[25],"state":[26],"observer":[27],"and":[28,43,60],"cascade":[29],"integrator":[30],"canonical":[31],"form":[32],"features":[33],"from":[34],"modern":[35],"theory":[37],"to":[38,63,93],"deal":[39],"with":[40],"disturbances,":[41],"nonlinearities":[42],"unmodeled":[44],"dynamics.":[45],"The":[46],"proposed":[47],"controller":[48],"3D":[53],"linear":[54],"inverted":[55],"pendulum":[56],"walking":[57],"pattern":[58],"generation,":[59],"designed":[62],"be":[64],"triggered":[65],"only":[66],"if":[67],"signals":[69],"are":[70],"detected.":[71],"technique":[74],"was":[75],"tested":[76],"model":[79],"using":[84],"numerical":[85],"simulation":[86],"software,":[87],"showing":[88],"successful":[89],"results":[90],"that":[91],"motivate":[92],"implement":[94],"it":[95],"in":[96],"real":[98],"platform.":[101]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}