{"id":"https://openalex.org/W2971454794","doi":"https://doi.org/10.1109/codit.2019.8820326","title":"Terminal sliding mode control of a virtual humanoid robot","display_name":"Terminal sliding mode control of a virtual humanoid robot","publication_year":2019,"publication_date":"2019-04-01","ids":{"openalex":"https://openalex.org/W2971454794","doi":"https://doi.org/10.1109/codit.2019.8820326","mag":"2971454794"},"language":"en","primary_location":{"id":"doi:10.1109/codit.2019.8820326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2019.8820326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)","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/A5100707932","display_name":"M. Sanchez-Magos","orcid":"https://orcid.org/0000-0002-7872-3781"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"M. Sanchez-Magos","raw_affiliation_strings":["CIDETEC-Instituto Polit??cnico Nacional"],"affiliations":[{"raw_affiliation_string":"CIDETEC-Instituto Polit??cnico Nacional","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014761446","display_name":"Mariana Ballesteros","orcid":"https://orcid.org/0000-0003-2879-4474"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. Ballesteros-Escamilla","raw_affiliation_strings":["UPIBI-Instituto Polit??cnico Nacional"],"affiliations":[{"raw_affiliation_string":"UPIBI-Instituto Polit??cnico Nacional","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050361923","display_name":"David Cruz\u2010Ortiz","orcid":"https://orcid.org/0000-0003-2066-7470"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"D. Cruz-Ortiz","raw_affiliation_strings":["UPIBI-Instituto Polit??cnico Nacional"],"affiliations":[{"raw_affiliation_string":"UPIBI-Instituto Polit??cnico Nacional","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066144798","display_name":"Iv\u00e1n Salgado","orcid":"https://orcid.org/0000-0002-3854-7031"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"I. Salgado","raw_affiliation_strings":["CIDETEC-Instituto Polit??cnico Nacional"],"affiliations":[{"raw_affiliation_string":"CIDETEC-Instituto Polit??cnico Nacional","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079939647","display_name":"Isaac Cha\u00edrez","orcid":"https://orcid.org/0000-0002-7157-2052"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"I. Chairez","raw_affiliation_strings":["UPIBI-Instituto Polit??cnico Nacional"],"affiliations":[{"raw_affiliation_string":"UPIBI-Instituto Polit??cnico Nacional","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100707932"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1956,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.50442641,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"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":1.0,"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":1.0,"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":0.9979000091552734,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9729999899864197,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8659876585006714},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.593945324420929},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5615924000740051},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5562101006507874},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5354986190795898},{"id":"https://openalex.org/keywords/terminal-sliding-mode","display_name":"Terminal sliding mode","score":0.5176499485969543},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.46705424785614014},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4491724967956543},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.43396320939064026},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4186931848526001},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.3802785575389862},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3446708917617798},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.321111261844635},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29465264081954956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25777697563171387},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2354786992073059},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13252779841423035},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12067314982414246},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12037435173988342}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8659876585006714},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.593945324420929},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5615924000740051},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5562101006507874},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5354986190795898},{"id":"https://openalex.org/C2777539142","wikidata":"https://www.wikidata.org/wiki/Q7702746","display_name":"Terminal sliding mode","level":4,"score":0.5176499485969543},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.46705424785614014},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4491724967956543},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.43396320939064026},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4186931848526001},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.3802785575389862},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3446708917617798},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.321111261844635},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29465264081954956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25777697563171387},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2354786992073059},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13252779841423035},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12067314982414246},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12037435173988342},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/codit.2019.8820326","is_oa":false,"landing_page_url":"https://doi.org/10.1109/codit.2019.8820326","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 6th International Conference on Control, Decision and Information Technologies (CoDIT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8500000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1981087314","https://openalex.org/W2030959268","https://openalex.org/W2047174209","https://openalex.org/W2057153110","https://openalex.org/W2059114576","https://openalex.org/W2080132051","https://openalex.org/W2112028377","https://openalex.org/W2156018100","https://openalex.org/W2183928325","https://openalex.org/W2294061893","https://openalex.org/W2305138675","https://openalex.org/W2343985080","https://openalex.org/W2390714945","https://openalex.org/W2470482648","https://openalex.org/W2511924737","https://openalex.org/W2553873044","https://openalex.org/W2564990207","https://openalex.org/W2613021707","https://openalex.org/W2782792085","https://openalex.org/W2904799950","https://openalex.org/W6686782423"],"related_works":["https://openalex.org/W2356356101","https://openalex.org/W2109651492","https://openalex.org/W2108072532","https://openalex.org/W2380965978","https://openalex.org/W2131481667","https://openalex.org/W2016095328","https://openalex.org/W2404840993","https://openalex.org/W4214925198","https://openalex.org/W1995636945","https://openalex.org/W1788310316"],"abstract_inverted_index":{"This":[0,98],"manuscript":[1,99],"deals":[2],"with":[3,12,76,85],"the":[4,21,36,42,51,57,68,111,119,123],"problem":[5,62],"of":[6,15,63,115,118],"controlling":[7],"a":[8,24,73,101,127,140,145],"virtualized":[9],"humanoid":[10,65,120],"robot":[11,66,121],"16":[13],"degrees":[14],"freedom":[16],"(DOF),":[17],"each":[18,33,48,116],"corresponding":[19],"to":[20,109,122],"articulation":[22,117],"in":[23,35,50,139,144],"real":[25],"human":[26],"being.":[27],"That":[28],"is,":[29],"three":[30,45],"DOF":[31,46],"for":[32,41,47,56],"leg":[34],"sagittal":[37,52],"plane":[38,53],"and":[39,54,83],"one":[40,55],"abduction":[43],"movement;":[44],"arm":[49],"waist.":[58],"The":[59,135],"tracking":[60,113],"trajectory":[61,114],"any":[64],"like":[67],"classical":[69,128],"biped":[70],"robots":[71],"requires":[72],"control":[74],"algorithm":[75],"robustness":[77],"against":[78],"parametric":[79],"uncertainties,":[80],"fast":[81],"response":[82],"even":[84],"finite-time":[86,112],"convergence.":[87],"These":[88],"main":[89],"characteristics":[90],"are":[91],"easily":[92],"covered":[93],"by":[94,132],"sliding":[95,105],"mode":[96,106],"controllers.":[97],"implements":[100],"terminal":[102],"second":[103],"order":[104],"(TSOSM)":[107],"controller":[108],"ensure":[110],"ones":[124],"that":[125],"define":[126],"walking":[129],"pattern":[130],"obtained":[131],"bio-mechanical":[133],"studies.":[134],"TSOSM":[136],"is":[137],"implemented":[138],"virtual":[141],"platform":[142],"developed":[143],"computer-aided":[146],"design":[147],"software.":[148]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}