{"id":"https://openalex.org/W2030174571","doi":"https://doi.org/10.1109/robio.2013.6739496","title":"Walking balance control for biped robot based on multi-sensor integration","display_name":"Walking balance control for biped robot based on multi-sensor integration","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2030174571","doi":"https://doi.org/10.1109/robio.2013.6739496","mag":"2030174571"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2013.6739496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5049557511","display_name":"Bin He","orcid":"https://orcid.org/0000-0003-3193-6269"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bin He","raw_affiliation_strings":["Department of Control Science & Engineering, Tongji University, Shanghai, China","Dept.of Control Science and Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science & Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Dept.of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424178","display_name":"Zhipeng Wang","orcid":"https://orcid.org/0000-0003-4632-9170"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhipeng Wang","raw_affiliation_strings":["Department of Control Science & Engineering, Tongji University, Shanghai, China","Dept.of Control Science and Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science & Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Dept.of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101670035","display_name":"Xiaocheng Tang","orcid":"https://orcid.org/0000-0002-6714-4290"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaocheng Tang","raw_affiliation_strings":["Department of Control Science & Engineering, Tongji University, Shanghai, China","Dept.of Control Science and Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science & Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Dept.of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101655628","display_name":"Qiang Lu","orcid":"https://orcid.org/0000-0002-9597-5294"},"institutions":[{"id":"https://openalex.org/I116953780","display_name":"Tongji University","ror":"https://ror.org/03rc6as71","country_code":"CN","type":"education","lineage":["https://openalex.org/I116953780"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Lu","raw_affiliation_strings":["Department of Control Science & Engineering, Tongji University, Shanghai, China","Dept.of Control Science and Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Control Science & Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]},{"raw_affiliation_string":"Dept.of Control Science and Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5049557511"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.1998,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56079624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"88","issue":null,"first_page":"425","last_page":"430"},"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":0.9789999723434448,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9136000275611877,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6652011871337891},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6632581949234009},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6203312277793884},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6039929389953613},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.5445480942726135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.543925940990448},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5373410582542419},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.501976490020752},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4921812117099762},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.4649601876735687},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4603225290775299},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4399959444999695},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3919185698032379},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3236416280269623},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3229946196079254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13109126687049866},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.07864442467689514},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.06669086217880249}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6652011871337891},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6632581949234009},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6203312277793884},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6039929389953613},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.5445480942726135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.543925940990448},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5373410582542419},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.501976490020752},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4921812117099762},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.4649601876735687},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4603225290775299},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4399959444999695},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3919185698032379},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3236416280269623},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3229946196079254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13109126687049866},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.07864442467689514},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.06669086217880249},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2013.6739496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2013.6739496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1969190644","https://openalex.org/W1971175227","https://openalex.org/W1978347628","https://openalex.org/W1985093330","https://openalex.org/W2017970073","https://openalex.org/W2022579726","https://openalex.org/W2029058516","https://openalex.org/W2030304471","https://openalex.org/W2037729465","https://openalex.org/W2062972966","https://openalex.org/W2071307076","https://openalex.org/W2102568724","https://openalex.org/W2107063340","https://openalex.org/W2133859362","https://openalex.org/W2138671676","https://openalex.org/W2140764512","https://openalex.org/W2145477224","https://openalex.org/W2145860775","https://openalex.org/W2145944877","https://openalex.org/W2149407815","https://openalex.org/W2155307968","https://openalex.org/W2162341771","https://openalex.org/W6656016191"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W2352322616","https://openalex.org/W2574438335","https://openalex.org/W2159724666"],"abstract_inverted_index":{"This":[0],"paper":[1],"deals":[2],"with":[3,22],"walking":[4,28,48,73],"balance":[5,29,49,68,90],"control":[6,18,91,102],"of":[7,14,99],"biped":[8,45,81],"robot":[9,72],"inspired":[10],"by":[11],"biological":[12],"concept":[13],"sensory":[15,62],"integration.":[16],"The":[17,31,47,93],"system":[19],"is":[20,35,58,84],"proposed":[21,89,101],"a":[23,27,39],"trajectory":[24],"generator":[25],"and":[26,42,55,69],"controller.":[30],"inverted":[32],"pendulum":[33],"model":[34],"used":[36,85],"to":[37,64,86],"generate":[38],"more":[40],"natural":[41],"energy":[43],"efficient":[44],"gait.":[46],"controller,":[50,57],"which":[51],"includes":[52],"Kalman":[53],"filter":[54],"fuzzy":[56],"designed":[59],"based":[60],"on":[61],"fusion":[63],"keep":[65],"the":[66,71,75,88,97,100],"body":[67],"make":[70],"following":[74],"desired":[76],"reference":[77],"trajectory.":[78],"A":[79],"retrofitted":[80],"platform":[82],"Bioloid":[83],"validate":[87],"method.":[92],"experimental":[94],"results":[95],"confirm":[96],"effectiveness":[98],"strategy.":[103]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
