{"id":"https://openalex.org/W2160472360","doi":"https://doi.org/10.1109/icmlc.2011.6016883","title":"A novel intelligent control system design for a humanoid robot","display_name":"A novel intelligent control system design for a humanoid robot","publication_year":2011,"publication_date":"2011-07-01","ids":{"openalex":"https://openalex.org/W2160472360","doi":"https://doi.org/10.1109/icmlc.2011.6016883","mag":"2160472360"},"language":"en","primary_location":{"id":"doi:10.1109/icmlc.2011.6016883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc.2011.6016883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 International Conference on Machine Learning and Cybernetics","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/A5076097922","display_name":"Chih\u2010Min Lin","orcid":"https://orcid.org/0000-0003-2107-5012"},"institutions":[{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Chih-Min Lin","raw_affiliation_strings":["Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021092425","display_name":"Chih\u2010Hsuan Chen","orcid":"https://orcid.org/0000-0002-2305-8657"},"institutions":[{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Chih-Hsuan Chen","raw_affiliation_strings":["Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020402378","display_name":"Ming-Hung Lin","orcid":"https://orcid.org/0000-0002-6468-1533"},"institutions":[{"id":"https://openalex.org/I99908691","display_name":"Yuan Ze University","ror":"https://ror.org/01fv1ds98","country_code":"TW","type":"education","lineage":["https://openalex.org/I99908691"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Hung Lin","raw_affiliation_strings":["Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Yuan-Ze University, Taoyuan, Taiwan","institution_ids":["https://openalex.org/I99908691"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5076097922"],"corresponding_institution_ids":["https://openalex.org/I99908691"],"apc_list":null,"apc_paid":null,"fwci":0.2099,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.59906557,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"1156","last_page":"1161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9652000069618225,"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":0.9621000289916992,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7088912129402161},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5753044486045837},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5418437719345093},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5373502969741821},{"id":"https://openalex.org/keywords/fuzzy-control-system","display_name":"Fuzzy control system","score":0.5174942016601562},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5006661415100098},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.49596843123435974},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49199578166007996},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4869502782821655},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44598710536956787},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42805010080337524},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.42475077509880066},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.42120257019996643},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.4189353287220001},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41871270537376404},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3485340476036072},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15428858995437622}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7088912129402161},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5753044486045837},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5418437719345093},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5373502969741821},{"id":"https://openalex.org/C195975749","wikidata":"https://www.wikidata.org/wiki/Q1475705","display_name":"Fuzzy control system","level":3,"score":0.5174942016601562},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5006661415100098},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.49596843123435974},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49199578166007996},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4869502782821655},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44598710536956787},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42805010080337524},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.42475077509880066},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.42120257019996643},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.4189353287220001},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41871270537376404},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3485340476036072},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15428858995437622},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icmlc.2011.6016883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmlc.2011.6016883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 International Conference on Machine Learning and Cybernetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"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":13,"referenced_works":["https://openalex.org/W1889531669","https://openalex.org/W1993740947","https://openalex.org/W2021512411","https://openalex.org/W2097794977","https://openalex.org/W2104709070","https://openalex.org/W2108128471","https://openalex.org/W2130622494","https://openalex.org/W2132414998","https://openalex.org/W2141377539","https://openalex.org/W2142992961","https://openalex.org/W2174124931","https://openalex.org/W2606761053","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2168647525","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/W2170918662","https://openalex.org/W2362004994","https://openalex.org/W1965124047"],"abstract_inverted_index":{"This":[0,38,60],"paper":[1],"presents":[2],"the":[3,27,65,69,74,93,100,104,118,123,153,160],"design":[4],"of":[5,73,103,152],"an":[6,80],"intelligent":[7,142],"control":[8,72,127,143,151,166],"system":[9,29,83,128,133,144,162],"for":[10,68,98,168],"a":[11,33,41,53,58,107,135,169],"humanoid":[12,154,172],"robot.":[13,75,105,155,173],"A":[14],"novel":[15],"fuzzy":[16,28,54],"cerebellar":[17],"model":[18],"articulation":[19],"controller":[20,25,67],"(FCMAC)":[21],"is":[22,40,62,89,113,129],"proposed;":[23],"this":[24,77,141],"incorporates":[26],"inference":[30],"rule":[31],"with":[32],"CMAC":[34],"fast":[35],"learning":[36],"ability.":[37],"FCMAC":[39,61],"generalization":[42],"network;":[43],"in":[44],"some":[45],"special":[46],"cases":[47],"it":[48],"can":[49,145,163],"be":[50],"reduced":[51],"to":[52,91,115,121],"neural":[55],"network":[56],"or":[57],"CMAC.":[59],"used":[63,90,114],"as":[64],"main":[66],"trajectory":[70],"tracking":[71],"In":[76],"robotic":[78],"system,":[79],"inertial":[81],"navigation":[82],"(INS)":[84],"including":[85],"gyroscopes":[86],"and":[87,96],"accelerometers":[88],"measure":[92],"robot's":[94],"attitude":[95,102],"acceleration":[97],"modifying":[99],"dynamic":[101],"Moreover,":[106],"zero":[108],"moment":[109],"point":[110],"(ZMP)":[111],"compensator":[112],"on-line":[116,148],"adjust":[117],"gait":[119],"trajectories":[120],"improve":[122],"walking":[124],"stability.":[125],"The":[126],"implemented":[130],"based":[131],"on":[132,134],"programmable":[136],"chip":[137],"(SoPC)":[138],"technology.":[139],"Thus,":[140],"achieve":[146,164],"real-time":[147],"closed-loop":[149],"feedback":[150],"Experimental":[156],"results":[157],"show":[158],"that":[159],"developed":[161],"favorable":[165],"performance":[167],"high-order":[170],"nonlinear":[171]},"counts_by_year":[{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}