{"id":"https://openalex.org/W1965642299","doi":"https://doi.org/10.1109/scis-isis.2012.6505388","title":"Stabilization of hybrid wheeled and legged mobile robot based on ZMP","display_name":"Stabilization of hybrid wheeled and legged mobile robot based on ZMP","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W1965642299","doi":"https://doi.org/10.1109/scis-isis.2012.6505388","mag":"1965642299"},"language":"en","primary_location":{"id":"doi:10.1109/scis-isis.2012.6505388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/scis-isis.2012.6505388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligence Systems","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/A5050032643","display_name":"Dong-Hyuk Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong-Hyuk Jeong","raw_affiliation_strings":["Dept. of Electrical, Electronic, Control Engineering, Hankyong National University, Anseong, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical, Electronic, Control Engineering, Hankyong National University, Anseong, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I119060216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038011526","display_name":"Bo-Hoon Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bo-Hoon Lee","raw_affiliation_strings":["Graduate School of Bio and Information Technology, Hankyong National University, Anseong, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Bio and Information Technology, Hankyong National University, Anseong, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I119060216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101872443","display_name":"Jong Hwan Park","orcid":"https://orcid.org/0000-0002-4850-2566"},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong-Hwan Park","raw_affiliation_strings":["Graduate School of Bio and Information Technology, Hankyong National University, Anseong, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Bio and Information Technology, Hankyong National University, Anseong, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I119060216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033159779","display_name":"Yong-Tae Kim","orcid":"https://orcid.org/0000-0002-2081-4752"},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Tae Kim","raw_affiliation_strings":["Dept. of Electrical, Electronic, Control Engineering, Hankyong National University, Anseong, Gyeonggi-do, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical, Electronic, Control Engineering, Hankyong National University, Anseong, Gyeonggi-do, Korea","institution_ids":["https://openalex.org/I119060216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2071,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.54475068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2044","last_page":"2046"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9968000054359436,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9620000123977661,"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/mobile-robot","display_name":"Mobile robot","score":0.7938816547393799},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.706136167049408},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6456760168075562},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.565239667892456},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5085664987564087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45895037055015564},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4184263050556183},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4113740921020508},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35506266355514526},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34426844120025635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3108179569244385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22426694631576538},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0787452757358551}],"concepts":[{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7938816547393799},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.706136167049408},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6456760168075562},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.565239667892456},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5085664987564087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45895037055015564},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4184263050556183},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4113740921020508},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35506266355514526},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34426844120025635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3108179569244385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22426694631576538},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0787452757358551},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/scis-isis.2012.6505388","is_oa":false,"landing_page_url":"https://doi.org/10.1109/scis-isis.2012.6505388","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The 6th International Conference on Soft Computing and Intelligent Systems, and The 13th International Symposium on Advanced Intelligence Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7200000286102295,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W97148427","https://openalex.org/W335392797","https://openalex.org/W342353151","https://openalex.org/W2021512411","https://openalex.org/W2145944877","https://openalex.org/W2158866377","https://openalex.org/W6603975501"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W2762381663","https://openalex.org/W1886477626","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762"],"abstract_inverted_index":{"The":[0],"hybrid":[1],"mobile":[2],"robot":[3,36],"has":[4,10,41],"high":[5],"degree":[6],"of":[7,44],"freedom":[8],"and":[9],"walking":[11,69],"instability":[12],"in":[13,30],"dynamic":[14],"walking.":[15],"Therefore":[16],"there":[17],"are":[18],"many":[19],"researches":[20],"to":[21,28,55],"develop":[22],"robots":[23],"that":[24],"improve":[25],"its":[26],"mobility":[27],"adapt":[29],"various":[31],"uneven":[32],"environments.":[33],"When":[34],"the":[35,45,50],"moves":[37],"position":[38],"especially,":[39],"Stability":[40],"been":[42],"one":[43],"most":[46],"important":[47],"factors.":[48],"In":[49],"paper,":[51],"we":[52,63],"propose":[53],"algorithm":[54],"increase":[56],"stability":[57],"by":[58],"using":[59],"FSR":[60],"sensor.":[61],"Also":[62],"actually":[64],"verify":[65],"a":[66],"performance":[67],"through":[68],"experiment.":[70]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}