{"id":"https://openalex.org/W2100475643","doi":"https://doi.org/10.1109/tim.2009.2017148","title":"Control of a Biped Robot With Support Vector Regression in Sagittal Plane","display_name":"Control of a Biped Robot With Support Vector Regression in Sagittal Plane","publication_year":2009,"publication_date":"2009-07-28","ids":{"openalex":"https://openalex.org/W2100475643","doi":"https://doi.org/10.1109/tim.2009.2017148","mag":"2100475643"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2009.2017148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2009.2017148","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-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/A5043376371","display_name":"Jo\u00e3o P. Ferreira","orcid":"https://orcid.org/0000-0003-0143-9421"},"institutions":[{"id":"https://openalex.org/I293362453","display_name":"Polytechnic Institute of Coimbra","ror":"https://ror.org/01n8x4993","country_code":"PT","type":"education","lineage":["https://openalex.org/I293362453"]}],"countries":["PT"],"is_corresponding":true,"raw_author_name":"J.P. Ferreira","raw_affiliation_strings":["Department of Electrical Engineering, Coimbra Institute of Engineering, Coimbra, Portugal","Dept. of Electr. Eng., Coimbra Inst. of Eng., Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Coimbra Institute of Engineering, Coimbra, Portugal","institution_ids":["https://openalex.org/I293362453"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Coimbra Inst. of Eng., Coimbra, Portugal","institution_ids":["https://openalex.org/I293362453"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018656888","display_name":"Manuel Cris\u00f3stomo","orcid":"https://orcid.org/0000-0002-3240-7564"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"M.M. Crisostomo","raw_affiliation_strings":["Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","[Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal]"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"[Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal]","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045501372","display_name":"A. Paulo Coimbra","orcid":"https://orcid.org/0000-0003-3780-2405"},"institutions":[{"id":"https://openalex.org/I4210125590","display_name":"Institute for Systems Engineering and Computers","ror":"https://ror.org/033wn8m60","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590"]},{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"A.P. Coimbra","raw_affiliation_strings":["Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","[Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal]"],"affiliations":[{"raw_affiliation_string":"Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I4210125590","https://openalex.org/I76903346"]},{"raw_affiliation_string":"[Institute of Systems and Robotics and the Department of Electrical and Computer Engineering, University of Coimbra, Coimbra, Portugal]","institution_ids":["https://openalex.org/I76903346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046882659","display_name":"Bernardete Ribeiro","orcid":"https://orcid.org/0000-0002-9770-7672"},"institutions":[{"id":"https://openalex.org/I76903346","display_name":"University of Coimbra","ror":"https://ror.org/04z8k9a98","country_code":"PT","type":"education","lineage":["https://openalex.org/I76903346"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"B. Ribeiro","raw_affiliation_strings":["Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal"],"affiliations":[{"raw_affiliation_string":"Department of Informatics Engineering, University of Coimbra, Coimbra, Portugal","institution_ids":["https://openalex.org/I76903346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5043376371"],"corresponding_institution_ids":["https://openalex.org/I293362453"],"apc_list":null,"apc_paid":null,"fwci":2.4458,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.88423159,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"58","issue":"9","first_page":"3167","last_page":"3176"},"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":0.9941999912261963,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9739000201225281,"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/robot","display_name":"Robot","score":0.6989693641662598},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.6919339895248413},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.6340159177780151},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.6011376976966858},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.5810449123382568},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5388324856758118},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5371134877204895},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5248541831970215},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46633458137512207},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.4196700155735016},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.415246844291687},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36247673630714417},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.3483853042125702},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.30496811866760254},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18232667446136475},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15982908010482788},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.07809498906135559}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6989693641662598},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.6919339895248413},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.6340159177780151},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.6011376976966858},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.5810449123382568},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5388324856758118},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5371134877204895},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5248541831970215},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46633458137512207},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.4196700155735016},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.415246844291687},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36247673630714417},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.3483853042125702},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.30496811866760254},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18232667446136475},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15982908010482788},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.07809498906135559},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2009.2017148","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2009.2017148","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1545656448","https://openalex.org/W1559393815","https://openalex.org/W1559697926","https://openalex.org/W1874861438","https://openalex.org/W1970511700","https://openalex.org/W2018695512","https://openalex.org/W2045017196","https://openalex.org/W2049274115","https://openalex.org/W2050002330","https://openalex.org/W2057892472","https://openalex.org/W2064585749","https://openalex.org/W2094660816","https://openalex.org/W2102126235","https://openalex.org/W2127079190","https://openalex.org/W2128967980","https://openalex.org/W2129754669","https://openalex.org/W2132539416","https://openalex.org/W2142992961","https://openalex.org/W2145825090","https://openalex.org/W2149863006","https://openalex.org/W2156909104","https://openalex.org/W2158866377","https://openalex.org/W2159026946","https://openalex.org/W2167453047","https://openalex.org/W2306044186","https://openalex.org/W2492794003","https://openalex.org/W2543292168","https://openalex.org/W3120421331","https://openalex.org/W4252510982","https://openalex.org/W4285719527","https://openalex.org/W6662930894","https://openalex.org/W6666303756","https://openalex.org/W6679754591"],"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/W1859914877","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"This":[0,22,63,107],"paper":[1],"describes":[2],"the":[3,12,25,37,41,47,52,65,70,86,113,123,131,137,147,162],"control":[4],"of":[5,40,122,129,139,158],"an":[6,117],"autonomous":[7],"biped":[8],"robot":[9,48,53,149],"that":[10,81,153],"uses":[11,24],"support":[13],"vector":[14],"regression":[15],"(SVR)":[16],"method":[17,108],"for":[18,68],"its":[19,32],"sagittal":[20],"balance.":[21],"SVR":[23,75,90,143],"zero":[26],"moment":[27],"point":[28],"(ZMP)":[29],"position":[30],"and":[31,36,103,161],"variation":[33],"as":[34,44],"input":[35],"torso":[38],"correction":[39],"robot's":[42],"body":[43],"output.":[45],"As":[46],"model":[49,114],"used":[50,134],"segments":[51],"into":[54],"eight":[55],"parts,":[56],"it":[57],"is":[58,64,109,125],"difficult":[59],"to":[60,93,135,156],"use":[61],"online.":[62],"main":[66],"reason":[67],"using":[69,150],"artificial":[71],"intelligence":[72],"method.":[73],"The":[74,89,120,142],"was":[76,82,91,144],"trained":[77],"with":[78,85],"simulation":[79],"data":[80],"previously":[83],"tested":[84,145],"real":[87,148],"robot.":[88],"found":[92],"be":[94],"faster":[95],"(with":[96],"similar":[97,155],"accuracy)":[98],"than":[99,112],"a":[100,104],"recurrent":[101],"network":[102],"neuro-fuzzy":[105],"control.":[106],"more":[110],"precise":[111],"based":[115],"on":[116],"inverted":[118],"pendulum.":[119],"design":[121],"feet":[124],"considered":[126],"in":[127,146],"terms":[128],"accommodating":[130],"force":[132],"sensors":[133],"estimate":[136],"center":[138],"pressure":[140],"(CoP).":[141],"joint":[151],"trajectories":[152],"are":[154,164],"those":[157],"human":[159],"beings,":[160],"results":[163],"presented.":[165]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}