{"id":"https://openalex.org/W2944029615","doi":"https://doi.org/10.1109/tsmc.2019.2912417","title":"Foot Placement Compensator Design for Humanoid Walking Based on Discrete Control Lyapunov Function","display_name":"Foot Placement Compensator Design for Humanoid Walking Based on Discrete Control Lyapunov Function","publication_year":2019,"publication_date":"2019-05-08","ids":{"openalex":"https://openalex.org/W2944029615","doi":"https://doi.org/10.1109/tsmc.2019.2912417","mag":"2944029615"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2019.2912417","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2912417","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9379983/08708932.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://ieeexplore.ieee.org/ielx7/6221021/9379983/08708932.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037285766","display_name":"Chengju Liu","orcid":"https://orcid.org/0000-0001-7543-0855"},"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":"Chengju Liu","raw_affiliation_strings":["Department of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100378783","display_name":"Tong Zhang","orcid":"https://orcid.org/0000-0002-3506-0180"},"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":"Tong Zhang","raw_affiliation_strings":["Department of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010117485","display_name":"Changzhu Zhang","orcid":"https://orcid.org/0000-0001-7244-7280"},"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":"Changzhu Zhang","raw_affiliation_strings":["Department of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100347785","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-4500-238X"},"institutions":[{"id":"https://openalex.org/I200769079","display_name":"Hong Kong University of Science and Technology","ror":"https://ror.org/00q4vv597","country_code":"HK","type":"education","lineage":["https://openalex.org/I200769079"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Electronic and Computer Engineering, Hong Kong University of Science and Technology, Hong Kong","institution_ids":["https://openalex.org/I200769079"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073789459","display_name":"Qijun Chen","orcid":"https://orcid.org/0000-0001-5644-1188"},"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":"Qijun Chen","raw_affiliation_strings":["Department of Electronics and Information Engineering, Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Electronics and Information Engineering, Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I116953780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5037285766"],"corresponding_institution_ids":["https://openalex.org/I116953780"],"apc_list":null,"apc_paid":null,"fwci":0.3987,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.58871239,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"51","issue":"4","first_page":"2332","last_page":"2341"},"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":0.9987000226974487,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.995199978351593,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9137359857559204},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7466667890548706},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6304318904876709},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.536664605140686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045174360275269},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4782946705818176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3444645404815674},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32679909467697144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18045887351036072},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1668490171432495},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14131173491477966}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9137359857559204},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7466667890548706},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6304318904876709},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.536664605140686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045174360275269},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4782946705818176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3444645404815674},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32679909467697144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18045887351036072},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1668490171432495},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14131173491477966},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tsmc.2019.2912417","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2912417","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9379983/08708932.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-99015","is_oa":false,"landing_page_url":"https://repository.hkust.edu.hk/ir/Record/1783.1-99015","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:repository.ust.hk:1783.1-99015","is_oa":false,"landing_page_url":"http://repository.ust.hk/ir/Record/1783.1-99015","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/tsmc.2019.2912417","is_oa":true,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2912417","pdf_url":"https://ieeexplore.ieee.org/ielx7/6221021/9379983/08708932.pdf","source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1023919524","display_name":null,"funder_award_id":", Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2016210376","display_name":null,"funder_award_id":"18DZ1200804","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2206577118","display_name":null,"funder_award_id":"61573260","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4465357762","display_name":null,"funder_award_id":"17511108602","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G5939423041","display_name":null,"funder_award_id":"Technology","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6299258739","display_name":null,"funder_award_id":"16JC1401200","funder_id":"https://openalex.org/F4320321885","funder_display_name":"Science and Technology Commission of Shanghai Municipality"},{"id":"https://openalex.org/G8984163695","display_name":null,"funder_award_id":"61673300","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321885","display_name":"Science and Technology Commission of Shanghai Municipality","ror":"https://ror.org/03kt66j61"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2944029615.pdf","grobid_xml":"https://content.openalex.org/works/W2944029615.grobid-xml"},"referenced_works_count":50,"referenced_works":["https://openalex.org/W143124887","https://openalex.org/W1872467587","https://openalex.org/W1951932636","https://openalex.org/W1969172238","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2037729465","https://openalex.org/W2042204524","https://openalex.org/W2046127725","https://openalex.org/W2053549713","https://openalex.org/W2056223738","https://openalex.org/W2089644250","https://openalex.org/W2107063340","https://openalex.org/W2116310395","https://openalex.org/W2123719714","https://openalex.org/W2146215813","https://openalex.org/W2156174987","https://openalex.org/W2228102949","https://openalex.org/W2343985080","https://openalex.org/W2411861267","https://openalex.org/W2436002435","https://openalex.org/W2526749720","https://openalex.org/W2553197920","https://openalex.org/W2563439850","https://openalex.org/W2564145202","https://openalex.org/W2576188102","https://openalex.org/W2588181114","https://openalex.org/W2591223176","https://openalex.org/W2591999327","https://openalex.org/W2605791854","https://openalex.org/W2613021707","https://openalex.org/W2732762428","https://openalex.org/W2741700870","https://openalex.org/W2753943679","https://openalex.org/W2765094417","https://openalex.org/W2767834527","https://openalex.org/W2776302298","https://openalex.org/W2782579500","https://openalex.org/W2784026566","https://openalex.org/W2793050318","https://openalex.org/W2793603912","https://openalex.org/W2799314880","https://openalex.org/W2897405762","https://openalex.org/W2904451866","https://openalex.org/W2907940464","https://openalex.org/W2908093869","https://openalex.org/W2908318542","https://openalex.org/W2963536429","https://openalex.org/W4236999684","https://openalex.org/W6747254461"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2350715914","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W1859914877"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"an":[3],"online":[4,50],"foot":[5,44],"position":[6],"compensator":[7],"(FPC)":[8],"is":[9,47,52,106],"proposed":[10,142],"for":[11],"improving":[12],"the":[13,31,35,43,63,66,74,82,88,91,112,121,138,141],"robustness":[14,89],"of":[15,34,65,68,90,101,140],"humanoid":[16,36,92,113,135],"walking":[17,83],"based":[18,54],"on":[19,55,131],"orbital":[20],"energy":[21],"conservation":[22],"and":[23,71,80,128],"discrete":[24],"control":[25,46,59,105],"Lyapunov":[26],"function":[27],"(DCLF),":[28],"with":[29],"which":[30],"asymptotic":[32],"stability":[33],"system":[37],"can":[38],"be":[39],"maintained":[40],"and,":[41],"thus,":[42],"placement":[45],"achieved.":[48],"The":[49,108],"FPC":[51],"developed":[53],"linear":[56],"model":[57],"predictive":[58],"(MPC)":[60],"by":[61,115],"replanning":[62],"trajectories":[64],"center":[67],"mass":[69],"(CoM)":[70],"properly":[72],"placing":[73],"footsteps":[75],"to":[76,94,119],"resist":[77],"external":[78,97],"disturbances":[79],"recover":[81],"posture.":[84],"To":[85],"further":[86],"improve":[87],"robots":[93],"suppress":[95],"strong":[96],"disturbance,":[98],"a":[99,132],"strategy":[100],"upper":[102,122],"body":[103,123],"posture":[104,124],"proposed.":[107],"presented":[109],"controller":[110],"stabilizes":[111],"robot":[114,136],"utilizing":[116],"hip":[117],"joints":[118],"modulate":[120],"online.":[125],"Webots":[126],"simulations":[127],"real":[129],"experiments":[130],"full-body":[133],"NAO":[134],"verify":[137],"effectiveness":[139],"methods.":[143]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3}],"updated_date":"2026-04-14T08:04:32.555800","created_date":"2025-10-10T00:00:00"}