{"id":"https://openalex.org/W4226168273","doi":"https://doi.org/10.1109/robio54168.2021.9739430","title":"Stable Walking of Seven-link Biped Robot Based on CPG-ZMP Hybrid Control Method","display_name":"Stable Walking of Seven-link Biped Robot Based on CPG-ZMP Hybrid Control Method","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226168273","doi":"https://doi.org/10.1109/robio54168.2021.9739430"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739430","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5089977649","display_name":"Jianjun Yu","orcid":"https://orcid.org/0000-0002-2101-7018"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Jianjun Yu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386684","display_name":"Yixin Liu","orcid":"https://orcid.org/0000-0002-9190-3736"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yixin Liu","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100345541","display_name":"Ruiqi Li","orcid":"https://orcid.org/0000-0003-3618-8060"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ruiqi Li","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017790030","display_name":"Guoyu Zuo","orcid":"https://orcid.org/0000-0002-7624-4728"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Guoyu Zuo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5024181286","display_name":"Naigong Yu","orcid":"https://orcid.org/0000-0002-8452-4623"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Naigong Yu","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5089977649"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1531,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.76832394,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"870","last_page":"874"},"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":0.9894000291824341,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9376999735832214,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/zero-moment-point","display_name":"Zero moment point","score":0.9414423704147339},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7403755187988281},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.690610408782959},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5315240025520325},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5249630808830261},{"id":"https://openalex.org/keywords/central-pattern-generator","display_name":"Central pattern generator","score":0.5019361972808838},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.45021089911460876},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.43509525060653687},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.3676643967628479},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3430711030960083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3323184549808502},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2507137358188629},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12643641233444214},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07130539417266846}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.9414423704147339},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7403755187988281},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.690610408782959},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5315240025520325},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5249630808830261},{"id":"https://openalex.org/C169453685","wikidata":"https://www.wikidata.org/wiki/Q1054066","display_name":"Central pattern generator","level":3,"score":0.5019361972808838},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.45021089911460876},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.43509525060653687},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3676643967628479},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3430711030960083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3323184549808502},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2507137358188629},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12643641233444214},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07130539417266846},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C135343436","wikidata":"https://www.wikidata.org/wiki/Q170406","display_name":"Rhythm","level":2,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739430","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739430","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W2000359430","https://openalex.org/W2089644250","https://openalex.org/W2097235959","https://openalex.org/W2125177287","https://openalex.org/W2133859362","https://openalex.org/W4248901411"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786","https://openalex.org/W2368185326"],"abstract_inverted_index":{"The":[0,112,141],"Central":[1],"pattern":[2],"generator":[3],"(CPG)":[4],"method":[5,25,49,118,149,177],"has":[6,26],"good":[7,153],"biomimetic":[8],"effect,":[9],"so":[10],"it":[11,90],"is":[12,164],"used":[13],"in":[14,82,114],"the":[15,22,27,33,56,64,68,72,77,87,92,98,101,115,137,146,161,172,174,180,183],"walking":[16,31,34,53,159,181],"research":[17,142],"of":[18,29,36,67,100,160,182],"biped":[19,37,51,70,131,184],"robot.":[20,38],"However,":[21],"CPG":[23,57,102,169],"control":[24,48,109,117,148,176],"disadvantage":[28],"unstable":[30],"during":[32,110],"process":[35],"To":[39],"solve":[40],"this":[41,43],"problem,":[42],"paper":[44,126],"proposes":[45],"a":[46,128,152,167],"hybrid":[47,116,147,175],"for":[50,133],"robot":[52,78,132,185],"based":[54],"on":[55,63],"and":[58,91,106,163],"Zero":[59],"moment":[60,80,95],"point":[61,81],"(ZMP).Based":[62],"physical":[65],"model":[66],"seven-link":[69,130],"robot,":[71,162],"foot":[73],"pressure":[74],"sensor":[75],"obtains":[76],"zero":[79,94],"real":[83],"time,":[84],"according":[85],"to":[86],"difference":[88],"between":[89],"expected":[93],"point,":[96],"realizes":[97,107],"compensation":[99],"output":[103],"joint":[104],"angle,":[105],"closed-loop":[108],"walking.":[111],"parameters":[113],"were":[119],"optimized":[120],"by":[121,166],"GA":[122],"optimization":[123],"algorithm.":[124],"This":[125],"uses":[127],"self-built":[129],"simulation":[134,139],"verification":[135],"under":[136],"VREP":[138],"platform.":[140],"results":[143],"show":[144],"that":[145],"can":[150,178],"ensure":[151],"bionic":[154],"effect":[155],"while":[156],"achieving":[157],"stable":[158],"controlled":[165],"single":[168],"compared":[170],"with":[171],"method,":[173],"make":[179],"more":[186],"stable.":[187]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
