{"id":"https://openalex.org/W2009908686","doi":"https://doi.org/10.1109/sii.2012.6426935","title":"Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker","display_name":"Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker","publication_year":2012,"publication_date":"2012-12-01","ids":{"openalex":"https://openalex.org/W2009908686","doi":"https://doi.org/10.1109/sii.2012.6426935","mag":"2009908686"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2012.6426935","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2012.6426935","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/SICE International Symposium on System Integration (SII)","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/A5020730491","display_name":"Fumihiko Asano","orcid":"https://orcid.org/0000-0002-5751-9714"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Fumihiko Asano","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008342125","display_name":"Xuan Xiao","orcid":"https://orcid.org/0000-0003-3230-0086"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xuan Xiao","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan"],"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Nomi, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, 1-1, Asahidai, Nomi, Ishikawa, 923-1292, Japan","institution_ids":["https://openalex.org/I177738480"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5020730491"],"corresponding_institution_ids":["https://openalex.org/I177738480"],"apc_list":null,"apc_paid":null,"fwci":2.017,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.85446033,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9750999808311462,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7731889486312866},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6588847041130066},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6324927806854248},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6280650496482849},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5917317867279053},{"id":"https://openalex.org/keywords/settling-time","display_name":"Settling time","score":0.4439118504524231},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4346705675125122},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4151269197463989},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.30175715684890747},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17706546187400818},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15912383794784546}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7731889486312866},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6588847041130066},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6324927806854248},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6280650496482849},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5917317867279053},{"id":"https://openalex.org/C14781684","wikidata":"https://www.wikidata.org/wiki/Q3983320","display_name":"Settling time","level":3,"score":0.4439118504524231},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4346705675125122},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4151269197463989},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.30175715684890747},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17706546187400818},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15912383794784546},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C160030872","wikidata":"https://www.wikidata.org/wiki/Q2142864","display_name":"Step response","level":2,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2012.6426935","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2012.6426935","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/SICE International Symposium on System Integration (SII)","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":5,"referenced_works":["https://openalex.org/W1979422127","https://openalex.org/W1995409582","https://openalex.org/W2025369996","https://openalex.org/W2158621464","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"Achieving":[0],"robust":[1,26],"dynamic":[2,27],"walking":[3,90],"is":[4],"one":[5,34],"of":[6,31],"the":[7,42,68,81],"most":[8],"important":[9],"properties":[10],"for":[11,23,54],"practical":[12],"legged":[13],"robots.":[14],"This":[15],"paper":[16],"proposes":[17],"two":[18],"output":[19],"deadbeat":[20],"control":[21,39],"laws":[22],"generating":[24],"a":[25,36,45],"gait":[28,92],"in":[29,87],"terms":[30],"convergence":[32],"speed;":[33],"generates":[35,44],"discrete-time":[37],"(digital)":[38],"input":[40],"and":[41,56,74],"other":[43],"continuous-time":[46,82],"one.":[47],"We":[48,77],"introduce":[49],"an":[50,85],"underactuated":[51],"spoked":[52],"walker":[53],"analysis,":[55],"show":[57,79],"that":[58,80],"both":[59],"approaches":[60],"can":[61],"generate":[62],"fast":[63],"convergent":[64],"gaits":[65],"by":[66],"adjusting":[67],"desired":[69],"settling":[70],"time":[71],"through":[72,91],"mathematical":[73],"numerical":[75],"investigations.":[76],"also":[78],"approach":[83],"has":[84],"advantage":[86],"achieving":[88],"high-speed":[89],"analysis.":[93]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
