{"id":"https://openalex.org/W3046317107","doi":"https://doi.org/10.1109/iros45743.2020.9341569","title":"Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller","display_name":"Velocity Regulation of 3D Bipedal Walking Robots with Uncertain Dynamics Through Adaptive Neural Network Controller","publication_year":2020,"publication_date":"2020-10-24","ids":{"openalex":"https://openalex.org/W3046317107","doi":"https://doi.org/10.1109/iros45743.2020.9341569","mag":"3046317107"},"language":"en","primary_location":{"id":"doi:10.1109/iros45743.2020.9341569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2008.00376","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025408291","display_name":"Guillermo A. Castillo","orcid":"https://orcid.org/0000-0003-1326-5836"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guillermo A. Castillo","raw_affiliation_strings":["Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033842396","display_name":"Bowen Weng","orcid":"https://orcid.org/0000-0002-7868-9747"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bowen Weng","raw_affiliation_strings":["Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Computer Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University,Electrical and Computer Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069590039","display_name":"Terrence C. Stewart","orcid":"https://orcid.org/0000-0002-1445-7613"},"institutions":[{"id":"https://openalex.org/I151746483","display_name":"University of Waterloo","ror":"https://ror.org/01aff2v68","country_code":"CA","type":"education","lineage":["https://openalex.org/I151746483"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Terrence C. Stewart","raw_affiliation_strings":["National Research Council of Canada, University of Waterloo Collaboration Centre, Waterloo, ON, Canada","University of Waterloo Collaboration Centre,National Research Council of Canada,Waterloo,ON,Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Research Council of Canada, University of Waterloo Collaboration Centre, Waterloo, ON, Canada","institution_ids":["https://openalex.org/I151746483"]},{"raw_affiliation_string":"University of Waterloo Collaboration Centre,National Research Council of Canada,Waterloo,ON,Canada","institution_ids":["https://openalex.org/I151746483"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100441694","display_name":"Wei Zhang","orcid":"https://orcid.org/0000-0002-7511-2870"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhang","raw_affiliation_strings":["SUSTech Institute of Robotics, Southern University of Science and Technology (SUSTech), China","Southern University of Science and Technology (SUSTech),SUSTech Institute of Robotics,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"SUSTech Institute of Robotics, Southern University of Science and Technology (SUSTech), China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Southern University of Science and Technology (SUSTech),SUSTech Institute of Robotics,China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069228447","display_name":"Ayonga Hereid","orcid":"https://orcid.org/0000-0002-4156-2013"},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ayonga Hereid","raw_affiliation_strings":["Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA","Ohio State University,Mechanical and Aerospace Engineering,Columbus,OH,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering, Ohio State University, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University,Mechanical and Aerospace Engineering,Columbus,OH,USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025408291"],"corresponding_institution_ids":["https://openalex.org/I52357470"],"apc_list":null,"apc_paid":null,"fwci":0.2612,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.51319678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"7703","last_page":"7709"},"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":0.9948999881744385,"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":0.9944999814033508,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6893327832221985},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6696823835372925},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6491482257843018},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6339309215545654},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5874642729759216},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5540675520896912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5493568181991577},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5333884358406067},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5224475264549255},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.45127999782562256},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29678285121917725},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2898447513580322},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2657206058502197}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6893327832221985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6696823835372925},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6491482257843018},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6339309215545654},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5874642729759216},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5540675520896912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5493568181991577},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5333884358406067},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5224475264549255},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.45127999782562256},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29678285121917725},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2898447513580322},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2657206058502197},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","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/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros45743.2020.9341569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros45743.2020.9341569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2008.00376","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00376","pdf_url":"https://arxiv.org/pdf/2008.00376","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},{"id":"pmh:oai:cisti-icist.nrc-cnrc.ca:cistinparc:e4c5d19d-9e73-45bd-af00-b945c244ed09","is_oa":true,"landing_page_url":"https://nrc-publications.canada.ca/eng/view/author/version/?id=e4c5d19d-9e73-45bd-af00-b945c244ed09","pdf_url":"https://nrc-publications.canada.ca/eng/view/author/version/?id=e4c5d19d-9e73-45bd-af00-b945c244ed09","source":{"id":"https://openalex.org/S7407055245","display_name":"NPARC","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":null,"raw_type":"article"},{"id":"mag:3046317107","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2008.00376","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2008.00376","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2008.00376","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2008.00376","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2008.00376","pdf_url":"https://arxiv.org/pdf/2008.00376","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3046317107.pdf","grobid_xml":"https://content.openalex.org/works/W3046317107.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W639309485","https://openalex.org/W1504362584","https://openalex.org/W1984481057","https://openalex.org/W2030515455","https://openalex.org/W2040657708","https://openalex.org/W2083483041","https://openalex.org/W2096156956","https://openalex.org/W2113362840","https://openalex.org/W2114436064","https://openalex.org/W2143717973","https://openalex.org/W2158782408","https://openalex.org/W2161942114","https://openalex.org/W2173873847","https://openalex.org/W2239166089","https://openalex.org/W2465284394","https://openalex.org/W2558597819","https://openalex.org/W2749701166","https://openalex.org/W2792099719","https://openalex.org/W2793649106","https://openalex.org/W2889392436","https://openalex.org/W2963315892","https://openalex.org/W2968814040","https://openalex.org/W2972798201","https://openalex.org/W2978824700","https://openalex.org/W3021971131","https://openalex.org/W6660812760","https://openalex.org/W6768753331","https://openalex.org/W6777000115"],"related_works":["https://openalex.org/W3129295553","https://openalex.org/W2293239846","https://openalex.org/W2383709710","https://openalex.org/W2349853176","https://openalex.org/W2787877504","https://openalex.org/W75233953","https://openalex.org/W2231540282","https://openalex.org/W2248931226","https://openalex.org/W2040596686","https://openalex.org/W2126361607","https://openalex.org/W2929647494","https://openalex.org/W2369770193","https://openalex.org/W2985010056","https://openalex.org/W3156410970","https://openalex.org/W2118653579","https://openalex.org/W2357516990","https://openalex.org/W2150323036","https://openalex.org/W3172515037","https://openalex.org/W2079375270","https://openalex.org/W3099523296"],"abstract_inverted_index":{"This":[0],"paper":[1,115],"presents":[2],"a":[3,120,139],"neural-network":[4],"based":[5],"adaptive":[6,81,109],"feedback":[7],"control":[8],"structure":[9],"to":[10,85,126,145],"regulate":[11,27,86],"the":[12,30,47,51,58,61,65,68,77,87,91,124,130,147,150],"velocity":[13,28,89],"of":[14,32,50,67,72,79,93,138,149],"3D":[15,140],"bipedal":[16],"robots":[17],"under":[18,104,153],"dynamics":[19,63,105],"uncertainties.":[20,96,106],"Existing":[21],"Hybrid":[22],"Zero":[23],"Dynamics":[24],"(HZD)-based":[25],"controllers":[26],"through":[29],"implementation":[31],"heuristic":[33],"regulators":[34],"that":[35],"do":[36],"not":[37,117],"consider":[38],"model":[39,94],"and":[40,75,122],"environmental":[41],"uncertainties,":[42],"which":[43],"may":[44],"significantly":[45],"affect":[46],"tracking":[48,102],"performance":[49,103,148],"controllers.":[52],"In":[53],"this":[54,114],"paper,":[55],"we":[56],"address":[57],"uncertainties":[59],"in":[60,90,113],"robot":[62,88,142],"from":[64],"perspective":[66],"reduced":[69],"dimensional":[70],"representation":[71],"virtual":[73],"constraints":[74],"propose":[76],"integration":[78],"an":[80],"neural":[82,110],"network-based":[83],"controller":[84],"presence":[92],"parameter":[95],"The":[97,107],"proposed":[98,151],"approach":[99,152],"yields":[100],"improved":[101],"shallow":[108],"network":[111],"used":[112],"does":[116],"require":[118],"training":[119],"priori":[121],"has":[123],"potential":[125],"be":[127],"implemented":[128],"on":[129],"real-time":[131],"robotic":[132],"controller.":[133],"A":[134],"comparative":[135],"simulation":[136],"study":[137],"Cassie":[141],"is":[143],"presented":[144],"illustrate":[146],"various":[154],"scenarios.":[155]},"counts_by_year":[{"year":2021,"cited_by_count":3}],"updated_date":"2026-05-04T08:30:34.212998","created_date":"2025-10-10T00:00:00"}
