{"id":"https://openalex.org/W3168578315","doi":"https://doi.org/10.1109/lra.2021.3082016","title":"Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control","display_name":"Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3168578315","doi":"https://doi.org/10.1109/lra.2021.3082016","mag":"3168578315"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3082016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3082016","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5081451857","display_name":"Ahmed Fahmy Soliman","orcid":"https://orcid.org/0000-0002-9474-7302"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"Ahmed Fahmy Soliman","raw_affiliation_strings":["Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-9474-7302","affiliations":[{"raw_affiliation_string":"Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080517829","display_name":"Barkan U\u011furlu","orcid":"https://orcid.org/0000-0002-9124-7441"},"institutions":[{"id":"https://openalex.org/I44925452","display_name":"\u00d6zye\u011fin University","ror":"https://ror.org/01jjhfr75","country_code":"TR","type":"education","lineage":["https://openalex.org/I44925452"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Barkan Ugurlu","raw_affiliation_strings":["Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey"],"raw_orcid":"https://orcid.org/0000-0002-9124-7441","affiliations":[{"raw_affiliation_string":"Biomechatronics Laboratory, Department of Mechanical Engineering, Ozyegin University, Istanbul, Turkey","institution_ids":["https://openalex.org/I44925452"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081451857"],"corresponding_institution_ids":["https://openalex.org/I44925452"],"apc_list":null,"apc_paid":null,"fwci":1.4443,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.79801365,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"3","first_page":"5626","last_page":"5633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9973000288009644,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9779999852180481,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/exoskeleton","display_name":"Exoskeleton","score":0.8161201477050781},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8111167550086975},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7105496525764465},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.620919942855835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5567782521247864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4913724958896637},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.48982688784599304},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.488660603761673},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4618586003780365},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4604099690914154},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43129318952560425},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.41711312532424927},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2929683327674866},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2702022194862366},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.25985994935035706},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2525325417518616},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.2395825982093811}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.8161201477050781},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8111167550086975},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7105496525764465},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.620919942855835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5567782521247864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4913724958896637},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.48982688784599304},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.488660603761673},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4618586003780365},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4604099690914154},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43129318952560425},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.41711312532424927},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2929683327674866},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2702022194862366},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25985994935035706},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2525325417518616},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2395825982093811},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2021.3082016","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3082016","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:pure.atira.dk:openaire_cris_publications/5815203d-659d-45b9-bee2-b0dff83b272f","is_oa":false,"landing_page_url":"https://research.manchester.ac.uk/en/publications/5815203d-659d-45b9-bee2-b0dff83b272f","pdf_url":null,"source":{"id":"https://openalex.org/S4306400662","display_name":"Research Explorer (The University of Manchester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28407311","host_organization_name":"University of Manchester","host_organization_lineage":["https://openalex.org/I28407311"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Soliman, A F & Ugurlu, B 2021, 'Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control', IEEE Robotics and Automation Letters, pp. 5626-5633. https://doi.org/10.1109/LRA.2021.3082016","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G8242127686","display_name":null,"funder_award_id":"215E138","funder_id":"https://openalex.org/F4320322626","funder_display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu"}],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1499277207","https://openalex.org/W1661970104","https://openalex.org/W1997861712","https://openalex.org/W2006355360","https://openalex.org/W2019606703","https://openalex.org/W2041886889","https://openalex.org/W2044459021","https://openalex.org/W2061983716","https://openalex.org/W2069774422","https://openalex.org/W2072763216","https://openalex.org/W2081683070","https://openalex.org/W2102159351","https://openalex.org/W2119171960","https://openalex.org/W2128284518","https://openalex.org/W2133859362","https://openalex.org/W2134454943","https://openalex.org/W2150317946","https://openalex.org/W2155141792","https://openalex.org/W2289848289","https://openalex.org/W2294646437","https://openalex.org/W2295429002","https://openalex.org/W2296319761","https://openalex.org/W2312751640","https://openalex.org/W2343715419","https://openalex.org/W2610901891","https://openalex.org/W2963212932","https://openalex.org/W2964473809","https://openalex.org/W2966366672","https://openalex.org/W3000715664","https://openalex.org/W3118744054","https://openalex.org/W4250589301","https://openalex.org/W6680054696"],"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/W2952578757","https://openalex.org/W4289656795"],"abstract_inverted_index":{"This":[0],"letter":[1],"presents":[2],"a":[3,75,88,132,135,147,152],"study":[4],"to":[5,51,56,80,122,177],"understand":[6],"how":[7],"an":[8,13,68],"underactuated":[9,155],"bipedal":[10,36],"exoskeleton":[11,156],"with":[12,151,184],"arbitrary":[14],"human":[15],"user":[16],"can":[17],"exhibit":[18],"robust":[19,58,206],"dynamic":[20,59],"walking":[21],"behavior":[22,181],"despite":[23],"severe":[24],"parameter":[25],"uncertainty":[26],"and":[27,95,126,157],"external":[28],"disturbances.":[29],"Unlike":[30],"in":[31,145],"the":[32,82,115,124,169,185,193],"case":[33],"of":[34,74,78,108,114,128,137],"classical":[35],"robots":[37],"where":[38],"each":[39],"leg":[40],"possesses":[41],"6":[42],"or":[43],"more":[44,205],"active":[45],"joints,":[46],"it":[47],"is":[48],"very":[49],"challenging":[50],"satisfy":[52,81],"multiple":[53],"constraints":[54,83],"simultaneously":[55],"ensure":[57],"walking.":[60],"To":[61],"overcome":[62],"this":[63],"problem,":[64],"we":[65,86],"first":[66],"propose":[67],"optimization":[69,189],"algorithm":[70],"that":[71],"makes":[72],"use":[73],"prioritized":[76],"stack":[77],"tasks":[79],"hierarchically.":[84],"Furthermore,":[85],"synthesized":[87],"locomotion":[89,100,180],"controller":[90,197],"named":[91],"ZMP":[92,195],"impedance":[93,196],"feedback":[94],"identified":[96],"two":[97],"other":[98],"state-of-the-art":[99],"controllers":[101,130,173],"(admittance":[102],"control,":[103],"centroidal":[104],"momentum":[105],"control)":[106],"all":[107,171],"which":[109,146],"were":[110,140],"built":[111],"on":[112],"top":[113],"proposed":[116,186,194],"task":[117,187],"prioritization":[118],"algorithm.":[119,190],"In":[120,191],"order":[121],"verify":[123],"validity":[125],"robustness":[127],"these":[129],"for":[131],"thorough":[133],"benchmarking,":[134],"series":[136],"simulation":[138],"experiments":[139],"conducted":[141],"via":[142],"MSC":[143],"ADAMS":[144],"human-robot":[148],"coupled":[149],"model":[150],"40":[153],"kg":[154],"12":[158],"distinct":[159],"anthropomorphic":[160],"subjects":[161],"(66":[162],"~":[163],"102":[164],"kg)":[165],"was":[166],"considered.":[167],"As":[168],"result,":[170],"3":[172],"showed":[174,198],"adequate":[175],"performances":[176],"address":[178],"balanced":[179],"when":[182],"used":[183],"priority-based":[188],"addition,":[192],"statistically":[199],"significant":[200],"results,":[201],"indicating":[202],"its":[203],"comparatively":[204],"feature.":[207]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}