{"id":"https://openalex.org/W1998482811","doi":"https://doi.org/10.1109/mmar.2013.6669952","title":"Stabilization of biped robot standing on nonstationary plane","display_name":"Stabilization of biped robot standing on nonstationary plane","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W1998482811","doi":"https://doi.org/10.1109/mmar.2013.6669952","mag":"1998482811"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2013.6669952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2013.6669952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-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/A5020870064","display_name":"Dmitry Bazylev","orcid":"https://orcid.org/0000-0003-4416-5731"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Dmitry Bazylev","raw_affiliation_strings":["Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics, Saint-Petersburg, Russia","St.-Petersburg Nat. Res. Univ. of Inf. Technol., Mech. & Opt., St. Petersburg, Russia"],"affiliations":[{"raw_affiliation_string":"Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics, Saint-Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"St.-Petersburg Nat. Res. Univ. of Inf. Technol., Mech. & Opt., St. Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083189139","display_name":"Anton A. Pyrkin","orcid":"https://orcid.org/0000-0001-8806-4057"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Anton Pyrkin","raw_affiliation_strings":["Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics, Saint-Petersburg, Russia","St.-Petersburg Nat. Res. Univ. of Inf. Technol., Mech. & Opt., St. Petersburg, Russia"],"affiliations":[{"raw_affiliation_string":"Saint-Petersburg National Research University of Information Technologies, Mechanics and Optics, Saint-Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"St.-Petersburg Nat. Res. Univ. of Inf. Technol., Mech. & Opt., St. Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020870064"],"corresponding_institution_ids":["https://openalex.org/I173089394"],"apc_list":null,"apc_paid":null,"fwci":1.9985,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.85271858,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"459","last_page":"463"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9492999911308289,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/control-theory","display_name":"Control theory (sociology)","score":0.7380312085151672},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7279467582702637},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.650874137878418},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6321216225624084},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5188187956809998},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.47691938281059265},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4697601795196533},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4657761752605438},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46392402052879333},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4314122498035431},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.42098498344421387},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3609013855457306},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32524779438972473},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29568374156951904},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2830831706523895},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25866711139678955},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15369912981987}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7380312085151672},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7279467582702637},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.650874137878418},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6321216225624084},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5188187956809998},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.47691938281059265},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4697601795196533},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4657761752605438},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46392402052879333},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4314122498035431},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.42098498344421387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3609013855457306},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32524779438972473},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29568374156951904},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2830831706523895},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25866711139678955},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15369912981987},{"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/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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2013.6669952","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2013.6669952","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 18th International Conference on Methods & Models in Automation & Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W1509235676","https://openalex.org/W1604918019","https://openalex.org/W2016051837","https://openalex.org/W2029058516","https://openalex.org/W2045992114","https://openalex.org/W2132347660","https://openalex.org/W2137547873","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W2063968051","https://openalex.org/W2349345409","https://openalex.org/W2023296447","https://openalex.org/W2373597118","https://openalex.org/W3126494366","https://openalex.org/W2605568314","https://openalex.org/W4284962749","https://openalex.org/W2116681061","https://openalex.org/W2137351687","https://openalex.org/W3096187747"],"abstract_inverted_index":{"The":[0,60,106],"problem":[1,23],"of":[2,4,53,57,74,77,86,132,146,164],"stabilization":[3],"a":[5,10,65,84,111,124],"biped":[6],"robot":[7,27,120,137,151],"standing":[8],"on":[9,83,149],"nonstationary":[11],"plane":[12,148,166],"is":[13,81,94,104,114,153,158],"considered":[14],"in":[15,38,89,116],"article.":[16],"Two":[17],"different":[18,26],"algorithms":[19],"for":[20,24,33],"solving":[21],"this":[22,136,174],"two":[25],"models":[28],"are":[29],"given.":[30],"Control":[31,76],"goal":[32],"both":[34],"robots":[35,46],"was":[36,121],"formulated":[37],"the":[39,45,78,91,99,143,147,165],"same":[40],"way.":[41],"Not":[42],"to":[43,48,64,110,173],"fall,":[44],"have":[47],"maintain":[49],"their":[50],"center":[51,56],"line":[52],"mass":[54],"at":[55],"bearing":[58],"area.":[59],"first":[61],"algorithm":[62,108],"refers":[63,109],"virtual":[66,79],"model":[67,80,93,112],"with":[68],"three":[69,72],"links":[70],"and":[71,128],"degrees":[73,131],"freedom.":[75,133],"based":[82],"method":[85],"inverse":[87],"dynamics":[88],"which":[90,150],"original":[92],"linearized":[95,100],"by":[96],"feedback.":[97],"For":[98],"system":[101],"PD":[102,156,175],"controller":[103,157],"constructed.":[105],"second":[107],"that":[113],"implemented":[115],"practice.":[117],"This":[118],"bipedal":[119],"assembled":[122],"from":[123,171],"robotics":[125],"kit":[126],"Bioloid":[127],"has":[129],"six":[130],"To":[134],"control":[135],"we":[138,167],"use":[139],"switching":[140],"regulator.":[141],"When":[142],"angular":[144,162],"velocity":[145],"stands":[152],"not":[154],"great,":[155],"running.":[159],"At":[160],"high":[161],"velocities":[163],"also":[168],"add":[169],"values":[170],"gyroscope":[172],"controller.":[176]},"counts_by_year":[{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}