{"id":"https://openalex.org/W2148477837","doi":"https://doi.org/10.1109/iros.2011.6094920","title":"Increasing the robustness of Acrobot walking control using compliant mechanisms","display_name":"Increasing the robustness of Acrobot walking control using compliant mechanisms","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2148477837","doi":"https://doi.org/10.1109/iros.2011.6094920","mag":"2148477837"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094920","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5017524660","display_name":"Maziar A. Sharbafi","orcid":"https://orcid.org/0000-0001-5727-7527"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Maziar Ahmad Sharbafi","raw_affiliation_strings":["School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Javad Yazdanpanah","raw_affiliation_strings":["Control and Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072135442","display_name":"Majid Nili Ahmadabadi","orcid":"https://orcid.org/0000-0002-6370-6057"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Nili Ahmadabadi","raw_affiliation_strings":["Control and Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control and Intelligent Processing Center of Excellence (CIPCE), School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I23946033"],"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":"307","issue":null,"first_page":"2723","last_page":"2728"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9952999949455261,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9854000210762024,"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":0.8329956531524658},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.765117883682251},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6152050495147705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5682810544967651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5409025549888611},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5072195529937744},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.45857033133506775},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4496843218803406},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42521196603775024},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4151459038257599},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3228113055229187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.313153475522995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21792811155319214},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16819211840629578}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8329956531524658},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.765117883682251},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6152050495147705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5682810544967651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5409025549888611},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5072195529937744},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.45857033133506775},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4496843218803406},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42521196603775024},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4151459038257599},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3228113055229187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.313153475522995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21792811155319214},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16819211840629578},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6094920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094920","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W19771005","https://openalex.org/W561664928","https://openalex.org/W1504362584","https://openalex.org/W1509235676","https://openalex.org/W1887006513","https://openalex.org/W2021368408","https://openalex.org/W2029058516","https://openalex.org/W2110844638","https://openalex.org/W2121829700","https://openalex.org/W2128131727","https://openalex.org/W2137547873","https://openalex.org/W2157055752","https://openalex.org/W2157924809","https://openalex.org/W2334738988","https://openalex.org/W3160954918","https://openalex.org/W4285719527","https://openalex.org/W4301670547","https://openalex.org/W6600786494","https://openalex.org/W6702888254"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W2744870258","https://openalex.org/W3040494141","https://openalex.org/W1980376593"],"abstract_inverted_index":{"Application":[0],"of":[1,8,17,22,30,38,62,95,108,110,120,122,137,148,164,184],"the":[2,6,9,14,31,36,70,82,96,105,111,118,123,162,165,182,185],"compliance":[3,100,163],"to":[4,44,139,142,169,176],"increase":[5],"robustness":[7],"bipedal":[10,23],"walker":[11],"locomotion":[12],"is":[13,28,66,132,153],"main":[15,151],"target":[16],"this":[18,127],"paper.":[19],"The":[20,150,178],"control":[21,112],"robots":[24],"with":[25,58],"point":[26],"feet":[27],"one":[29,60],"most":[32],"challenging":[33],"problems":[34],"in":[35,79,89],"domain":[37,119],"hybrid":[39,71],"dynamical":[40],"systems.":[41],"In":[42,126],"order":[43],"make":[45,170],"an":[46,52],"exponentially":[47],"stable":[48,171],"periodic":[49],"walking":[50,156,172],"for":[51,92,155],"Acrobot":[53,138],"as":[54],"a":[55,64,129,145,158],"planar":[56],"biped":[57],"only":[59,103],"degree":[61,107],"freedom,":[63],"controller":[65,83,152],"designed":[67,154],"based":[68],"on":[69,144,157,173],"zero":[72],"dynamics":[73],"analysis.":[74],"Then,":[75],"through":[76],"appropriate":[77],"alterations":[78],"robot":[80,97],"structure,":[81],"complexities":[84],"are":[85],"reduced":[86],"which":[87],"result":[88],"fewer":[90],"parameters":[91],"tuning.":[93],"Improvement":[94],"structure":[98],"via":[99],"insertion":[101],"not":[102],"compensates":[104],"lower":[106],"freedom":[109],"design":[113],"process,":[114],"but":[115],"also":[116],"expands":[117],"stability":[121],"closed-loop":[124],"system.":[125],"regard,":[128],"nonlinear":[130],"damper":[131,166],"inserted":[133],"between":[134],"two":[135],"legs":[136],"enable":[140],"it":[141,168],"walk":[143],"wider":[146],"range":[147],"slopes.":[149],"flat":[159],"terrain":[160],"and":[161],"empowers":[167],"slopes":[174],"up":[175],"17\u00b0.":[177],"simulation":[179],"results":[180],"confirmed":[181],"efficiency":[183],"proposed":[186],"approach.":[187]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
