{"id":"https://openalex.org/W2057153110","doi":"https://doi.org/10.1109/icra.2014.6907227","title":"Finite time tracking of a fully actuated biped robot with pre-specified settling time: A second order sliding mode synthesis","display_name":"Finite time tracking of a fully actuated biped robot with pre-specified settling time: A second order sliding mode synthesis","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2057153110","doi":"https://doi.org/10.1109/icra.2014.6907227","mag":"2057153110"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907227","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 Robotics and Automation (ICRA)","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/A5060624039","display_name":"Harshal B. Oza","orcid":"https://orcid.org/0000-0001-7745-2281"},"institutions":[{"id":"https://openalex.org/I20581793","display_name":"University of Kent","ror":"https://ror.org/00xkeyj56","country_code":"GB","type":"education","lineage":["https://openalex.org/I20581793"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Harshal B. Oza","raw_affiliation_strings":["School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, UK","School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, CT2 7NT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, UK","institution_ids":["https://openalex.org/I20581793"]},{"raw_affiliation_string":"School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, CT2 7NT, UK","institution_ids":["https://openalex.org/I20581793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039781735","display_name":"Yury Orlov","orcid":"https://orcid.org/0000-0001-9114-0436"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Yury V. Orlov","raw_affiliation_strings":["CICESE Research Center, Mexico","CICESE Research Center, Ensenada, Mexico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CICESE Research Center, Mexico","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"CICESE Research Center, Ensenada, Mexico","institution_ids":["https://openalex.org/I64663401"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091844693","display_name":"Sarah K. Spurgeon","orcid":"https://orcid.org/0000-0003-3451-0650"},"institutions":[{"id":"https://openalex.org/I20581793","display_name":"University of Kent","ror":"https://ror.org/00xkeyj56","country_code":"GB","type":"education","lineage":["https://openalex.org/I20581793"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sarah K. Spurgeon","raw_affiliation_strings":["School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, UK","School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, CT2 7NT, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, UK","institution_ids":["https://openalex.org/I20581793"]},{"raw_affiliation_string":"School of Engineering and Digital Arts, University of Kent, Canterbury, Kent, CT2 7NT, UK","institution_ids":["https://openalex.org/I20581793"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yannick Aoustin","raw_affiliation_strings":["L'UNAM, Ecole Centrale de Nantes, Nantes Cedex 3, France","L'UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, CNRS, Universit\u00e9 de Nantes, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 Nantes Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L'UNAM, Ecole Centrale de Nantes, Nantes Cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I234216984"]},{"raw_affiliation_string":"L'UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, CNRS, Universit\u00e9 de Nantes, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 Nantes Cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I234216984","https://openalex.org/I97188460","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053183805","display_name":"Christine Chevallereau","orcid":"https://orcid.org/0000-0002-1929-5211"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christine Chevallereau","raw_affiliation_strings":["L'UNAM, Ecole Centrale de Nantes, Nantes Cedex 3, France","L'UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, CNRS, Universit\u00e9 de Nantes, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 Nantes Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L'UNAM, Ecole Centrale de Nantes, Nantes Cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I234216984"]},{"raw_affiliation_string":"L'UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes UMR CNRS 6597, CNRS, Universit\u00e9 de Nantes, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 Nantes Cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I234216984","https://openalex.org/I97188460","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1274,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.77724076,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"43","issue":null,"first_page":"2570","last_page":"2575"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9945999979972839,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8795596361160278},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.6857914328575134},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.664857029914856},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5992721319198608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5822238326072693},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44176942110061646},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42619216442108154},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.41894251108169556},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.31298795342445374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26286089420318604},{"id":"https://openalex.org/keywords/step-response","display_name":"Step response","score":0.13614270091056824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1141030490398407}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8795596361160278},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.6857914328575134},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.664857029914856},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5992721319198608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5822238326072693},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44176942110061646},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42619216442108154},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.41894251108169556},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.31298795342445374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26286089420318604},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.13614270091056824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1141030490398407},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2014.6907227","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907227","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 Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:kar.kent.ac.uk:41717","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907227>)","pdf_url":null,"source":{"id":"https://openalex.org/S4377196264","display_name":"Kent Academic Repository (University of Kent)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I20581793","host_organization_name":"University of Kent","host_organization_lineage":["https://openalex.org/I20581793"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Conference proceeding"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:1515236","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/1515236/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"     In:   (Proceedings) IEEE International Conference on Robotics and Automation (ICRA). (pp. pp. 2570-2575).  IEEE (2014)     ","raw_type":"Proceedings paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2303173920","display_name":null,"funder_award_id":"EP/J018295/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1978183319","https://openalex.org/W1979999200","https://openalex.org/W2018851823","https://openalex.org/W2028500424","https://openalex.org/W2030515455","https://openalex.org/W2035568722","https://openalex.org/W2052883072","https://openalex.org/W2088552730","https://openalex.org/W2091198516","https://openalex.org/W2092667683","https://openalex.org/W2095745107","https://openalex.org/W2099441579","https://openalex.org/W2107063340","https://openalex.org/W2118416521","https://openalex.org/W2136605942","https://openalex.org/W2137547873","https://openalex.org/W2156018100","https://openalex.org/W2894073732","https://openalex.org/W6657535839","https://openalex.org/W6674861912"],"related_works":["https://openalex.org/W1030049439","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W4377820486","https://openalex.org/W2132353065","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2018658498"],"abstract_inverted_index":{"A":[0],"second":[1],"order":[2],"sliding":[3],"mode":[4],"controller":[5,29,59,69,140],"is":[6,49,60,96,118],"utilised":[7],"to":[8,32,105,119,167],"track":[9],"reference":[10,128],"trajectories":[11],"for":[12,26,126,132,141],"all":[13],"the":[14,27,52,57,81,88,99,109,116,127,133,149,169],"joints":[15],"of":[16,37,56,93,101,108,115,135,145,151,161],"a":[17,34,38,65,71,136,146,162],"fully":[18],"actuated":[19],"biped":[20,147,163],"robot.":[21],"The":[22,46,90,112],"existing":[23],"tuning":[24,134],"rules":[25],"`twisting'":[28],"are":[30,165],"used":[31],"guarantee":[33],"priori":[35],"attainment":[36],"prescribed":[39],"settling":[40],"time":[41,139],"between":[42],"two":[43],"successive":[44],"impacts.":[45],"joint":[47],"torque":[48],"modeled":[50],"as":[51],"control":[53,95],"input.":[54],"Smoothing":[55],"discontinuous":[58],"carried":[61],"out":[62],"by":[63,75,98],"introducing":[64],"high":[66],"gain":[67],"linear":[68],"inside":[70],"boundary":[72],"layer":[73,103],"defined":[74],"an":[76],"arbitrarily":[77],"small":[78],"region":[79],"around":[80],"origin":[82],"thereby":[83],"avoiding":[84],"numerical":[85],"errors":[86],"in":[87,148,153],"simulations.":[89],"overall":[91],"accuracy":[92],"motion":[94],"dictated":[97],"size":[100],"this":[102],"leading":[104],"practical":[106],"stability":[107],"closed-loop":[110],"system.":[111],"main":[113],"contribution":[114],"paper":[117],"provide":[120],"straightforward":[121],"and":[122,131,156],"realizable":[123],"engineering":[124],"guidelines":[125],"trajectory":[129],"generation":[130],"robust":[137],"finite":[138],"achieving":[142],"stable":[143],"gait":[144],"presence":[150],"disturbances":[152],"both":[154],"continuous":[155],"impact":[157],"phases.":[158],"Numerical":[159],"simulations":[160],"robot":[164],"shown":[166],"support":[168],"theoretical":[170],"results.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}