{"id":"https://openalex.org/W2049091787","doi":"https://doi.org/10.1109/icinfa.2014.6932750","title":"Semi-active stable landing control for biped robot by using switching control","display_name":"Semi-active stable landing control for biped robot by using switching control","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2049091787","doi":"https://doi.org/10.1109/icinfa.2014.6932750","mag":"2049091787"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2014.6932750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Information and Automation (ICIA)","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/A5010156467","display_name":"Zhihai Li","orcid":"https://orcid.org/0000-0001-7162-2673"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhihai Li","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4391768281"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101544121","display_name":"Zhenwei Wu","orcid":"https://orcid.org/0009-0003-1989-0373"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenwei Wu","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4391768281"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101971483","display_name":"Yiwen Zhao","orcid":"https://orcid.org/0000-0002-3853-7458"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4391768281","display_name":"State Key Laboratory of Robotics","ror":"https://ror.org/03pcw1780","country_code":null,"type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366","https://openalex.org/I4391768281"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiwen Zhao","raw_affiliation_strings":["State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I142078773"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Technology, Chinese Academy of Science, Shenyang, Liaoning Province, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4391768281"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"25","issue":null,"first_page":"740","last_page":"745"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.986299991607666,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9843000173568726,"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/control-theory","display_name":"Control theory (sociology)","score":0.8119181990623474},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6615790128707886},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.6457314491271973},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6078811883926392},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5468300580978394},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4941289722919464},{"id":"https://openalex.org/keywords/vibration-control","display_name":"Vibration control","score":0.4652351438999176},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36796578764915466},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3180316090583801},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26521721482276917},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10253342986106873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08266839385032654}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8119181990623474},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6615790128707886},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.6457314491271973},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6078811883926392},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5468300580978394},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4941289722919464},{"id":"https://openalex.org/C49240428","wikidata":"https://www.wikidata.org/wiki/Q3305953","display_name":"Vibration control","level":3,"score":0.4652351438999176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36796578764915466},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3180316090583801},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26521721482276917},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10253342986106873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08266839385032654},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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/icinfa.2014.6932750","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2014.6932750","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Information and Automation (ICIA)","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":15,"referenced_works":["https://openalex.org/W1972068552","https://openalex.org/W1988631397","https://openalex.org/W1994619641","https://openalex.org/W2010291530","https://openalex.org/W2052346842","https://openalex.org/W2057743931","https://openalex.org/W2096361384","https://openalex.org/W2126832170","https://openalex.org/W2135750073","https://openalex.org/W2153984928","https://openalex.org/W2154131860","https://openalex.org/W2170265195","https://openalex.org/W2322759080","https://openalex.org/W2575289494","https://openalex.org/W2578399850"],"related_works":["https://openalex.org/W2382163245","https://openalex.org/W3024069089","https://openalex.org/W2541320525","https://openalex.org/W4223455945","https://openalex.org/W1970536085","https://openalex.org/W141795279","https://openalex.org/W833572425","https://openalex.org/W2261508896","https://openalex.org/W1540273480","https://openalex.org/W2354719332"],"abstract_inverted_index":{"For":[0],"stable":[1],"landing":[2,32,135],"motion":[3],"control":[4,13,83,111,136],"of":[5,34,53,59,92,132],"biped":[6,17,54,61],"robot,":[7],"a":[8,81,124],"new":[9],"method":[10,84,112],"using":[11],"switching":[12,110,121],"is":[14,19,63,68,88,99,113,126],"proposed.":[15],"The":[16,42,101],"robot":[18,62],"with":[20,94],"Magenetorhelogical":[21,66],"damper":[22,67,98],"based":[23],"soft":[24],"driving":[25],"package.":[26],"Vibration":[27],"often":[28],"occurs":[29],"in":[30],"the":[31,51,60,109,130,133],"phase":[33],"swing":[35],"foot":[36],"or":[37],"unexpected":[38],"contacting":[39],"arising":[40,45],"abruptly.":[41],"residual":[43],"vibration":[44,75,86],"from":[46],"ground":[47],"reaction":[48],"force":[49],"decreases":[50],"safety":[52],"walking.":[55],"Firstly,":[56],"walking":[57],"gait":[58],"analyzed.":[64],"Then":[65,108],"introduced":[69],"into":[70],"joint":[71,93],"structure":[72,91],"to":[73,128],"realize":[74],"suppression":[76,87,106],"by":[77,115],"physical":[78],"mean.":[79],"And":[80],"damping":[82,118],"for":[85],"described.":[89],"Control":[90],"elasticity":[95],"and":[96,120],"MR":[97],"discussed.":[100],"strategy":[102],"could":[103],"provide":[104],"reliable":[105],"effectiveness.":[107],"established":[114],"position":[116],"controller,":[117],"controller":[119],"terms.":[122],"Finally,":[123],"simulation":[125],"implemented":[127],"verify":[129],"effectiveness":[131],"proposed":[134],"method.":[137]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
