{"id":"https://openalex.org/W2168993130","doi":"https://doi.org/10.1109/icra.2013.6631338","title":"Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding modes","display_name":"Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding modes","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2168993130","doi":"https://doi.org/10.1109/icra.2013.6631338","mag":"2168993130"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://rei.iteso.mx/bitstreams/7f0ccc4b-08b6-4980-a8f7-90f068a40727/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018180195","display_name":"J. Oviedo-Barriga","orcid":null},"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. Oviedo-Barriga","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018538249","display_name":"O. Carbajal-Espinosa","orcid":null},"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":"O. Carbajal-Espinosa","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018251735","display_name":"Luis E. Gonz\u00e1lez-Jim\u00e9nez","orcid":"https://orcid.org/0000-0002-8999-3015"},"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":"L. Gonzalez-Jimenez","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045017658","display_name":"B. Castillo\u2013Toledo","orcid":"https://orcid.org/0000-0002-4222-0592"},"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":"B. Castillo-Toledo","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017356611","display_name":"Eduardo Bayro\u2013Corrochano","orcid":"https://orcid.org/0000-0002-4738-3593"},"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":"E. Bayro-Corrochano","raw_affiliation_strings":["CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CINVESTAV, Department of Electrical Engineering and Computer Sciences, Unidad Guadalajara, Zapopan, Jalisco, Mexico","institution_ids":["https://openalex.org/I68368234"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.509,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.75065888,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5317","last_page":"5322"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.944100022315979,"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"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.944100022315979,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9384999871253967,"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/differentiator","display_name":"Differentiator","score":0.9027096033096313},{"id":"https://openalex.org/keywords/conformal-geometric-algebra","display_name":"Conformal geometric algebra","score":0.7840563058853149},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6635188460350037},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6410704255104065},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5876408815383911},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5567225217819214},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5225017666816711},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5002784729003906},{"id":"https://openalex.org/keywords/geometric-algebra","display_name":"Geometric algebra","score":0.47582700848579407},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.4635345935821533},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4218178987503052},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4024501442909241},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2941288352012634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2926379442214966},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.27775681018829346},{"id":"https://openalex.org/keywords/algebra-over-a-field","display_name":"Algebra over a field","score":0.21526503562927246},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2145986557006836},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14992740750312805},{"id":"https://openalex.org/keywords/algebra-representation","display_name":"Algebra representation","score":0.07270547747612}],"concepts":[{"id":"https://openalex.org/C12112733","wikidata":"https://www.wikidata.org/wiki/Q2659948","display_name":"Differentiator","level":3,"score":0.9027096033096313},{"id":"https://openalex.org/C147898140","wikidata":"https://www.wikidata.org/wiki/Q5160252","display_name":"Conformal geometric algebra","level":5,"score":0.7840563058853149},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6635188460350037},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6410704255104065},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5876408815383911},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5567225217819214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5225017666816711},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5002784729003906},{"id":"https://openalex.org/C180671464","wikidata":"https://www.wikidata.org/wiki/Q1186649","display_name":"Geometric algebra","level":4,"score":0.47582700848579407},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.4635345935821533},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4218178987503052},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4024501442909241},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2941288352012634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2926379442214966},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.27775681018829346},{"id":"https://openalex.org/C136119220","wikidata":"https://www.wikidata.org/wiki/Q1000660","display_name":"Algebra over a field","level":2,"score":0.21526503562927246},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2145986557006836},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14992740750312805},{"id":"https://openalex.org/C14394260","wikidata":"https://www.wikidata.org/wiki/Q4723980","display_name":"Algebra representation","level":3,"score":0.07270547747612},{"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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6631338","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631338","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:rei.iteso.mx:11117/2582","is_oa":true,"landing_page_url":"http://hdl.handle.net/11117/2582","pdf_url":"https://rei.iteso.mx/bitstreams/7f0ccc4b-08b6-4980-a8f7-90f068a40727/download","source":{"id":"https://openalex.org/S4377196641","display_name":"ITESO Institutional Repository (ReI) (Western Institute of Technology and Higher Education)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I113686770","host_organization_name":"Instituto Tecnol\u00f3gico y de Estudios Superiores de Occidente","host_organization_lineage":["https://openalex.org/I113686770"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:rei.iteso.mx:11117/2582","is_oa":true,"landing_page_url":"http://hdl.handle.net/11117/2582","pdf_url":"https://rei.iteso.mx/bitstreams/7f0ccc4b-08b6-4980-a8f7-90f068a40727/download","source":{"id":"https://openalex.org/S4377196641","display_name":"ITESO Institutional Repository (ReI) (Western Institute of Technology and Higher Education)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I113686770","host_organization_name":"Instituto Tecnol\u00f3gico y de Estudios Superiores de Occidente","host_organization_lineage":["https://openalex.org/I113686770"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2168993130.pdf","grobid_xml":"https://content.openalex.org/works/W2168993130.grobid-xml"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W1582195077","https://openalex.org/W1976483932","https://openalex.org/W1999558720","https://openalex.org/W2004596638","https://openalex.org/W2492766244","https://openalex.org/W4253416330"],"related_works":["https://openalex.org/W4297796763","https://openalex.org/W2579897398","https://openalex.org/W2982251507","https://openalex.org/W2275116124","https://openalex.org/W1708307708","https://openalex.org/W3022175278","https://openalex.org/W3023979443","https://openalex.org/W2964290513","https://openalex.org/W2099345067","https://openalex.org/W1482404553"],"abstract_inverted_index":{"Controlling":[0],"walking":[1,77],"biped":[2],"robots":[3],"is":[4,109],"a":[5,22,28,76],"challenging":[6],"problem":[7],"due":[8],"to":[9,17,46,54],"its":[10],"complex":[11],"and":[12,50,82],"uncertain":[13],"dynamics.":[14],"In":[15],"order":[16,99],"tackle":[18],"this,":[19],"we":[20],"propose":[21],"sliding":[23,100],"mode":[24],"controller":[25],"based":[26,96],"on":[27,97],"dynamic":[29],"model":[30],"which":[31],"was":[32],"obtained":[33,90],"using":[34],"the":[35,56,60,65,68,73,86,105],"conformal":[36],"geometric":[37,52],"algebra":[38],"approach":[39],"(CGA).":[40],"The":[41,62,80,102],"CGA":[42],"framework":[43],"permits":[44],"us":[45],"use":[47],"lines,":[48],"points,":[49],"other":[51],"entities,":[53],"obtain":[55],"Lagrange":[57],"equations":[58],"of":[59,67,75,85,104],"system.":[61],"references":[63],"for":[64],"joints":[66],"robot":[69],"were":[70,89],"bio-inspired":[71],"in":[72],"kinematics":[74],"human":[78],"body.":[79],"first":[81],"second":[83],"derivatives":[84],"reference":[87],"signal":[88],"through":[91,111],"an":[92],"exact":[93],"robust":[94],"differentiator":[95],"high":[98],"modes.":[101],"performance":[103],"proposed":[106],"control":[107],"scheme":[108],"illustrated":[110],"simulation.":[112]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}