{"id":"https://openalex.org/W2099429741","doi":"https://doi.org/10.1109/fuzzy.2011.6007507","title":"Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control","display_name":"Trajectory-based control under ZMP constraint for the 3D biped walking via fuzzy control","publication_year":2011,"publication_date":"2011-06-01","ids":{"openalex":"https://openalex.org/W2099429741","doi":"https://doi.org/10.1109/fuzzy.2011.6007507","mag":"2099429741"},"language":"en","primary_location":{"id":"doi:10.1109/fuzzy.2011.6007507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzzy.2011.6007507","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)","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/A5001137842","display_name":"Hsiu\u2010Ming Wu","orcid":"https://orcid.org/0000-0001-5708-6114"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Hsiu-Ming Wu","raw_affiliation_strings":["Opto-Mechatronics Technology Center, National Taiwan University of Science and Technology, Taipei, Taiwan","Opto-Mechatronics Technology Center, National Taiwan University of Science and Technology, Taipei. Taiwan, R.O.C"],"affiliations":[{"raw_affiliation_string":"Opto-Mechatronics Technology Center, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Opto-Mechatronics Technology Center, National Taiwan University of Science and Technology, Taipei. Taiwan, R.O.C","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040229352","display_name":"Chih\u2010Lyang Hwang","orcid":"https://orcid.org/0000-0003-0200-8674"},"institutions":[{"id":"https://openalex.org/I154864474","display_name":"National Taiwan University of Science and Technology","ror":"https://ror.org/00q09pe49","country_code":"TW","type":"education","lineage":["https://openalex.org/I154864474"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Lyang Hwang","raw_affiliation_strings":["Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, R. O. C.#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan","institution_ids":["https://openalex.org/I154864474"]},{"raw_affiliation_string":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan, R. O. C.#TAB#","institution_ids":["https://openalex.org/I154864474"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5001137842"],"corresponding_institution_ids":["https://openalex.org/I154864474"],"apc_list":null,"apc_paid":null,"fwci":0.6296,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.70857634,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9951000213623047,"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/trajectory","display_name":"Trajectory","score":0.7808429002761841},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6914938688278198},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6769294738769531},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.6127910614013672},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.6068530082702637},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5660438537597656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5571971535682678},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20663905143737793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16983047127723694},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0563051700592041}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7808429002761841},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6914938688278198},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6769294738769531},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.6127910614013672},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.6068530082702637},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5660438537597656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5571971535682678},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20663905143737793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16983047127723694},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0563051700592041},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/fuzzy.2011.6007507","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fuzzy.2011.6007507","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321040","display_name":"National Science Council","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1608835701","https://openalex.org/W1999241649","https://openalex.org/W2024531534","https://openalex.org/W2109915099","https://openalex.org/W2110178402","https://openalex.org/W2110966996","https://openalex.org/W2119793378","https://openalex.org/W2137231539","https://openalex.org/W2140764512","https://openalex.org/W2141637941","https://openalex.org/W2143657342","https://openalex.org/W2145944877","https://openalex.org/W2152475319","https://openalex.org/W2159541442","https://openalex.org/W2539915646","https://openalex.org/W2541047558","https://openalex.org/W2542447162"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W3023605104","https://openalex.org/W2383578611","https://openalex.org/W135622916"],"abstract_inverted_index":{"In":[0,110],"this":[1],"study,":[2],"a":[3,13,20,40,45,76,143],"fuzzy":[4,108],"control":[5],"policy":[6],"is":[7,17,32,72,114,140],"presented":[8,51],"for":[9,122],"dynamic":[10],"walking":[11,79],"of":[12,62,78],"biped":[14,23,63],"robot":[15],"that":[16,95],"modeled":[18],"as":[19,65,131,133,146],"simulated":[21],"five-link":[22],"robot.":[24],"Due":[25],"to":[26,34,52,74],"complex":[27],"ground":[28,42,55],"contact":[29,56],"models,":[30],"it":[31],"difficult":[33],"precisely":[35],"model":[36,43,49,61,104],"its":[37,112],"dynamics.":[38],"Besides,":[39],"spring/damper":[41],"and":[44,58,135],"simplified":[46],"inverted":[47],"pendulum":[48],"are":[50,96,127],"represent":[53],"the":[54,59,103,137],"relation":[57],"approximated":[60],"robots":[64],"well.":[66,147],"Moreover,":[67],"Finite":[68],"State":[69],"Machine":[70],"(FSM)":[71],"utilized":[73],"decompose":[75],"cycle":[77],"gait.":[80],"Under":[81],"zero":[82],"moment":[83],"point":[84],"(ZMP)":[85],"constraint,":[86],"each":[87,93],"joint":[88],"follows":[89],"desired":[90],"trajectories":[91],"in":[92,129],"state":[94],"generated":[97],"by":[98,116],"quintic":[99],"spline":[100],"curve":[101],"through":[102],"free":[105],"controller":[106,139,145],"(i.e.,":[107],"control).":[109],"addition,":[111],"robustness":[113],"investigated":[115],"imposing":[117],"pulse":[118],"perturbation":[119],"on":[120],"torso":[121],"some":[123],"directions.":[124],"The":[125],"results":[126],"demonstrated":[128],"simulations":[130],"well":[132],"animation":[134],"then":[136],"proposed":[138],"compared":[141],"with":[142],"PID":[144]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
