{"id":"https://openalex.org/W2150380939","doi":"https://doi.org/10.1109/icsmc.2007.4413595","title":"Autonomous bipedal walking pace supervision under perturbations","display_name":"Autonomous bipedal walking pace supervision under perturbations","publication_year":2007,"publication_date":"2007-01-01","ids":{"openalex":"https://openalex.org/W2150380939","doi":"https://doi.org/10.1109/icsmc.2007.4413595","mag":"2150380939"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2007.4413595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","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/A5100429570","display_name":"Lin Yang","orcid":"https://orcid.org/0000-0001-7852-3117"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Lin Yang","raw_affiliation_strings":["Control division, Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control division, Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Control division, Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control division, Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109290352","display_name":"Aun-Neow Poo","orcid":null},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Aun-Neow Poo","raw_affiliation_strings":["Control division, Department of Mechanical Engineering, National University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control division, Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I165932596"],"apc_list":null,"apc_paid":null,"fwci":0.7477,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.71750381,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"765","last_page":"770"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987000226974487,"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":0.9987000226974487,"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":0.989300012588501,"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"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9775000214576721,"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/stride","display_name":"STRIDE","score":0.7936262488365173},{"id":"https://openalex.org/keywords/pace","display_name":"Pace","score":0.7849655747413635},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6496044397354126},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6094948649406433},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6067790389060974},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5992826819419861},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5555230379104614},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.5234541296958923},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4340437948703766},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3694183826446533},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3424686789512634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2503430247306824},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.19761374592781067},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09149202704429626}],"concepts":[{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.7936262488365173},{"id":"https://openalex.org/C2777526511","wikidata":"https://www.wikidata.org/wiki/Q691543","display_name":"Pace","level":2,"score":0.7849655747413635},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6496044397354126},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6094948649406433},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6067790389060974},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5992826819419861},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5555230379104614},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.5234541296958923},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4340437948703766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3694183826446533},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3424686789512634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2503430247306824},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.19761374592781067},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09149202704429626},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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":2,"locations":[{"id":"doi:10.1109/icsmc.2007.4413595","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2007.4413595","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Systems, Man and Cybernetics","raw_type":"proceedings-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/73217","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/73217","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9200000166893005,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W972400409","https://openalex.org/W1988274707","https://openalex.org/W2026036461","https://openalex.org/W2034579881","https://openalex.org/W2052322585","https://openalex.org/W2057892472","https://openalex.org/W2110811984","https://openalex.org/W2111527309","https://openalex.org/W2130368332","https://openalex.org/W2136143868","https://openalex.org/W2147750403","https://openalex.org/W2155307968","https://openalex.org/W2160740151","https://openalex.org/W4233696721","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W4253098096","https://openalex.org/W2042776672","https://openalex.org/W2130288220","https://openalex.org/W1973997235","https://openalex.org/W2105233502","https://openalex.org/W2287760937"],"abstract_inverted_index":{"This":[0],"paper":[1],"presented":[2],"a":[3,82],"method":[4],"of":[5,13,53,85],"bipedal":[6],"walking":[7,27,78],"pace":[8],"supervision":[9,72],"by":[10],"the":[11,26,35,43,57],"adjustment":[12,55],"stride-frequency":[14,54],"and":[15,88],"step-length":[16,36],"simultaneously.":[17],"A":[18,29,46],"reinforcement":[19],"learning":[20,58,69],"algorithm":[21],"is":[22,73],"designed":[23],"to":[24,33,42],"learn":[25],"stride-frequency;":[28],"transition":[30],"plan":[31],"aims":[32],"adjust":[34],"or":[37],"update":[38],"motion":[39,71],"phases":[40],"according":[41],"dynamic":[44],"feedback;":[45],"momentum":[47],"based":[48,70],"estimation":[49],"gives":[50],"another":[51],"layer":[52],"when":[56],"agent":[59],"has":[60],"not":[61],"gained":[62],"enough":[63],"experiences.":[64],"Simulation":[65],"experiments":[66],"showed":[67],"this":[68],"effective":[74],"for":[75],"maintaining":[76],"stable":[77],"under":[79],"perturbations":[80],"with":[81],"balanced":[83],"performance":[84],"energy":[86],"consumption":[87],"robustness.":[89]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}