{"id":"https://openalex.org/W2032151075","doi":"https://doi.org/10.1109/icra.2014.6907608","title":"CPG-based control design for bipedal walking on unknown slope surfaces","display_name":"CPG-based control design for bipedal walking on unknown slope surfaces","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2032151075","doi":"https://doi.org/10.1109/icra.2014.6907608","mag":"2032151075"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907608","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/A5083629950","display_name":"Kai\u2010Tai Song","orcid":"https://orcid.org/0000-0003-1728-4057"},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Kai-Tai Song","raw_affiliation_strings":["Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","Institute of Electrical Control Engineering National Chiao Tung University Hsinchu Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"Institute of Electrical Control Engineering National Chiao Tung University Hsinchu Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017139714","display_name":"Chang-Hung Hsieh","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chang-Hung Hsieh","raw_affiliation_strings":["Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","National Yang Ming Chiao Tung University"],"affiliations":[{"raw_affiliation_string":"Institute of Electrical Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]},{"raw_affiliation_string":"National Yang Ming Chiao Tung University","institution_ids":["https://openalex.org/I148366613"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5083629950"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":0.9341,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.74664794,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5109","last_page":"5114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9884999990463257,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.97079998254776,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7104156613349915},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6662622690200806},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.6435806751251221},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6421219706535339},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.615706741809845},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5787741541862488},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5255224108695984},{"id":"https://openalex.org/keywords/upper-body","display_name":"Upper body","score":0.5179771184921265},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5160731673240662},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.4556579291820526},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3407638669013977},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3316674530506134},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3113947808742523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3049887418746948},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17250320315361023},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.094919353723526},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09284770488739014},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.07012906670570374}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7104156613349915},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6662622690200806},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.6435806751251221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6421219706535339},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.615706741809845},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5787741541862488},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5255224108695984},{"id":"https://openalex.org/C2992583082","wikidata":"https://www.wikidata.org/wiki/Q9645","display_name":"Upper body","level":3,"score":0.5179771184921265},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5160731673240662},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.4556579291820526},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3407638669013977},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3316674530506134},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3113947808742523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3049887418746948},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17250320315361023},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.094919353723526},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09284770488739014},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.07012906670570374},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"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/C153396756","wikidata":"https://www.wikidata.org/wiki/Q1785966","display_name":"Physical strength","level":2,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2014.6907608","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907608","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W44204917","https://openalex.org/W1988274707","https://openalex.org/W2001556607","https://openalex.org/W2024992416","https://openalex.org/W2050426505","https://openalex.org/W2051620263","https://openalex.org/W2057952125","https://openalex.org/W2094241130","https://openalex.org/W2100531771","https://openalex.org/W2100737946","https://openalex.org/W2109270255","https://openalex.org/W2110466158","https://openalex.org/W2125177287","https://openalex.org/W2141791321","https://openalex.org/W2147244792","https://openalex.org/W2153984928","https://openalex.org/W2546562180","https://openalex.org/W2593597020","https://openalex.org/W6601750520","https://openalex.org/W6678654290","https://openalex.org/W6729170636","https://openalex.org/W6734205402"],"related_works":["https://openalex.org/W4390693411","https://openalex.org/W1516183183","https://openalex.org/W2088984699","https://openalex.org/W2080439181","https://openalex.org/W2054715726","https://openalex.org/W2517959777","https://openalex.org/W2100531771","https://openalex.org/W108729680","https://openalex.org/W2011713535","https://openalex.org/W17381317"],"abstract_inverted_index":{"The":[0,21,58,109,119,134,149],"paper":[1],"presents":[2],"a":[3,8,13,82],"walking":[4,70],"pattern":[5,62],"generator":[6,63],"and":[7,26,92,96,116],"balance":[9],"control":[10,111],"system":[11],"for":[12,41],"bipedal":[14,165],"robot":[15,22,43,161,166,175],"to":[16,29,44,67,84,101,123,139,153],"handle":[17],"an":[18,47],"unknown":[19,48,155,180],"slope.":[20],"uses":[23],"onboard":[24],"gyro":[25],"accelerometer":[27],"sensors":[28],"detect":[30],"the":[31,35,42,52,56,69,74,78,86,89,93,98,103,107,125,131,141,145,154,164,168,173],"pose":[32,75,95,127,143],"information":[33,76],"of":[34,55,60,77,106,113,130],"upper-body.":[36,57,108],"A":[37],"controller":[38,151],"is":[39,65,137],"proposed":[40],"walk":[45,177],"on":[46,179],"slope":[49,90,156],"by":[50],"adjusting":[51],"tilt":[53,104],"angle":[54,105],"theory":[59],"central":[61],"(CPG)":[64],"applied":[66,138],"generate":[68,97],"trajectory.":[71],"By":[72],"using":[73],"upper-body,":[79],"we":[80],"developed":[81],"method":[83],"determine":[85],"relationship":[87],"between":[88],"surface":[91],"upper-body":[94,126,142],"compensation":[99,110,115,121,136],"motion":[100],"adjust":[102,124,140],"consists":[112],"predictive":[114,120],"immediate":[117,135],"compensation.":[118],"responds":[122],"before":[128],"beginning":[129],"next":[132],"step.":[133],"during":[144],"single":[146],"support":[147],"phase.":[148],"integrated":[150],"adapts":[152],"in":[157],"real":[158],"time":[159],"while":[160],"walking.":[162],"Using":[163],"NAO,":[167],"experimental":[169],"results":[170],"show":[171],"that":[172],"biped":[174],"can":[176],"successfully":[178],"slopes.":[181]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
