{"id":"https://openalex.org/W2567027784","doi":"https://doi.org/10.1109/iros.2016.7759179","title":"Passive robotic walker path following with bang-bang hybrid control paradigm","display_name":"Passive robotic walker path following with bang-bang hybrid control paradigm","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2567027784","doi":"https://doi.org/10.1109/iros.2016.7759179","mag":"2567027784"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759179","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5011588154","display_name":"Marco Andreetto","orcid":"https://orcid.org/0000-0002-5616-2477"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Andreetto","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069319288","display_name":"Stefano Divan","orcid":"https://orcid.org/0000-0002-8781-1011"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Divan","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045097296","display_name":"Daniele Fontanelli","orcid":"https://orcid.org/0000-0002-5486-9989"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Fontanelli","raw_affiliation_strings":["Department of Industrial Engineering (DII), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Industrial Engineering (DII), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006224560","display_name":"Luigi Palopoli","orcid":"https://orcid.org/0000-0001-8813-8685"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Palopoli","raw_affiliation_strings":["Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Engineering and Computer Science (DISI), University of Trento, Trento, Italy","institution_ids":["https://openalex.org/I193223587"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193223587"],"apc_list":null,"apc_paid":null,"fwci":4.391,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.95420046,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1054","last_page":"1060"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.7463280558586121},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7235181927680969},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6528221964836121},{"id":"https://openalex.org/keywords/bang\u2013bang-control","display_name":"Bang\u2013bang control","score":0.609796941280365},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.589728832244873},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5624544024467468},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49305078387260437},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48721426725387573},{"id":"https://openalex.org/keywords/forcing","display_name":"Forcing (mathematics)","score":0.42329761385917664},{"id":"https://openalex.org/keywords/phase-plane","display_name":"Phase plane","score":0.41022759675979614},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4101770520210266},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36260610818862915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.32807981967926025},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.1930895447731018},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17135268449783325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14598697423934937},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.09706851840019226},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.0893343985080719},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08466610312461853}],"concepts":[{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.7463280558586121},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7235181927680969},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6528221964836121},{"id":"https://openalex.org/C175287345","wikidata":"https://www.wikidata.org/wiki/Q1432859","display_name":"Bang\u2013bang control","level":3,"score":0.609796941280365},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.589728832244873},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5624544024467468},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49305078387260437},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48721426725387573},{"id":"https://openalex.org/C197115733","wikidata":"https://www.wikidata.org/wiki/Q1003136","display_name":"Forcing (mathematics)","level":2,"score":0.42329761385917664},{"id":"https://openalex.org/C157626765","wikidata":"https://www.wikidata.org/wiki/Q2088081","display_name":"Phase plane","level":3,"score":0.41022759675979614},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4101770520210266},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36260610818862915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.32807981967926025},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.1930895447731018},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17135268449783325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14598697423934937},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.09706851840019226},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0893343985080719},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08466610312461853},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/iros.2016.7759179","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759179","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unitn.it:11572/168231","is_oa":false,"landing_page_url":"http://hdl.handle.net/11572/168231","pdf_url":null,"source":{"id":"https://openalex.org/S4377196320","display_name":"Iris (University of Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1493326084","https://openalex.org/W1551450806","https://openalex.org/W1553616171","https://openalex.org/W1569239057","https://openalex.org/W1633338931","https://openalex.org/W1638798973","https://openalex.org/W1970295665","https://openalex.org/W1975835977","https://openalex.org/W1978737217","https://openalex.org/W1988408402","https://openalex.org/W2015101012","https://openalex.org/W2035318625","https://openalex.org/W2043080941","https://openalex.org/W2047851005","https://openalex.org/W2048315518","https://openalex.org/W2050152439","https://openalex.org/W2061617800","https://openalex.org/W2096492432","https://openalex.org/W2099631822","https://openalex.org/W2109596334","https://openalex.org/W2111800554","https://openalex.org/W2123552861","https://openalex.org/W2138051644","https://openalex.org/W2261483311","https://openalex.org/W2289994112","https://openalex.org/W2329844366","https://openalex.org/W2576411427","https://openalex.org/W2963186970","https://openalex.org/W6732189947","https://openalex.org/W6766011747"],"related_works":["https://openalex.org/W2379128895","https://openalex.org/W2971214053","https://openalex.org/W2021517900","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W2567027784","https://openalex.org/W637430200","https://openalex.org/W2077887334","https://openalex.org/W2116081759","https://openalex.org/W1976672721"],"abstract_inverted_index":{"This":[0,58,152],"paper":[1],"presents":[2],"a":[3,8,13,24,28,40,68,91,114,135],"control":[4,64],"algorithm":[5],"that":[6,31,122],"steers":[7],"robotic":[9],"walking":[10],"assistant":[11],"along":[12],"planned":[14,143],"path":[15,144,181],"using":[16,156],"electromechanical":[17],"brakes.":[18],"The":[19,130,176],"device":[20],"is":[21,56,75,104,153,182],"modeled":[22],"as":[23],"Dubins'":[25],"car,":[26],"i.e.,":[27],"wheeled":[29],"vehicle":[30,87],"moves":[32],"only":[33],"forward":[34],"in":[35],"the":[36,48,51,61,78,86,99,105,124,127,139,142,150,161,166,170,173,180,189,192,196,202],"plane":[37],"and":[38,145,169,186,195],"has":[39],"limited":[41],"turning":[42,93],"radius.":[43,94],"In":[44,95],"order":[45,96],"to":[46,88,97],"reduce":[47],"cost":[49],"of":[50,63,80,108,126,138,191,199],"hardware,":[52],"no":[53],"force":[54],"sensor":[55],"employed.":[57],"feature":[59],"hampers":[60],"application":[62,79,125],"algorithms":[65],"based":[66,76,117],"on":[67,77,118],"modulated":[69],"braking":[70,82,128],"action.":[71,129],"A":[72],"viable":[73],"solution":[74],"on/off":[81],"action,":[83],"thus":[84],"forcing":[85],"turn":[89],"with":[90,165,172],"fixed":[92],"avoid":[98],"annoying":[100],"chattering":[101],"behaviour,":[102],"which":[103],"inevitable":[106],"companion":[107],"all":[109],"bang-bang":[110],"solutions,":[111],"we":[112],"propose":[113],"hybrid":[115],"controller":[116,133],"three":[119],"discrete":[120],"states":[121],"rule":[123],"resulting":[131],"feedback":[132],"secures":[134],"gentle":[136],"convergence":[137,178],"user":[140],"toward":[141,179],"his/her":[146],"steady":[147],"progress":[148],"towards":[149],"destination.":[151],"obtained":[154],"by":[155],"two":[157],"independent":[158],"hystereses":[159],"thresholds,":[160],"first":[162],"one":[163],"associated":[164],"approaching":[167],"phase":[168],"second":[171],"following":[174],"phases.":[175],"system":[177],"formally":[183],"proved.":[184],"Simulations":[185],"experiments":[187],"show":[188],"effectiveness":[190],"proposed":[193],"approach":[194],"good":[197],"level":[198],"comfort":[200],"for":[201],"user.":[203]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
