{"id":"https://openalex.org/W2901903983","doi":"https://doi.org/10.1109/iisr.2018.8535669","title":"Dynamic Model and Control of a Walking Stick Robot","display_name":"Dynamic Model and Control of a Walking Stick Robot","publication_year":2018,"publication_date":"2018-08-01","ids":{"openalex":"https://openalex.org/W2901903983","doi":"https://doi.org/10.1109/iisr.2018.8535669","mag":"2901903983"},"language":"en","primary_location":{"id":"doi:10.1109/iisr.2018.8535669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","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/A5102943721","display_name":"Baiqing Sun","orcid":"https://orcid.org/0000-0003-3384-5029"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Baiqing Sun","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356644","display_name":"Zhe Li","orcid":"https://orcid.org/0000-0002-3386-1988"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhe Li","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051002406","display_name":"Qiuhao Zhang","orcid":"https://orcid.org/0000-0002-9886-7731"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuhao Zhang","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101040825","display_name":"Linlin Song","orcid":null},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Linlin Song","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073536756","display_name":"Wenbo Fan","orcid":"https://orcid.org/0000-0002-4525-9812"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenbo Fan","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101428468","display_name":"Junyou Yang","orcid":"https://orcid.org/0000-0002-7890-7206"},"institutions":[{"id":"https://openalex.org/I157507598","display_name":"Shenyang University of Technology","ror":"https://ror.org/00d7f8730","country_code":"CN","type":"education","lineage":["https://openalex.org/I157507598"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junyou Yang","raw_affiliation_strings":["The Shenyang University of Technology, Shenyang, China"],"affiliations":[{"raw_affiliation_string":"The Shenyang University of Technology, Shenyang, China","institution_ids":["https://openalex.org/I157507598"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5102943721"],"corresponding_institution_ids":["https://openalex.org/I157507598"],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.46389356,"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":"222","last_page":"226"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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":0.9884999990463257,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9879999756813049,"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/robot","display_name":"Robot","score":0.737539529800415},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.5888038873672485},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.5659311413764954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5549856424331665},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5358651280403137},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5310730338096619},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5247856974601746},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.44413694739341736},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3504875898361206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2292371690273285},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14268499612808228}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.737539529800415},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.5888038873672485},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.5659311413764954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5549856424331665},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5358651280403137},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5310730338096619},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5247856974601746},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.44413694739341736},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3504875898361206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2292371690273285},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14268499612808228},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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":1,"locations":[{"id":"doi:10.1109/iisr.2018.8535669","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iisr.2018.8535669","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Intelligence and Safety for Robotics (ISR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1638296595","https://openalex.org/W1965640174","https://openalex.org/W2013974105","https://openalex.org/W2048315518","https://openalex.org/W2105605199","https://openalex.org/W2122290439","https://openalex.org/W2124512572","https://openalex.org/W2132909521","https://openalex.org/W2138300314","https://openalex.org/W2438255111","https://openalex.org/W6641511952","https://openalex.org/W6676020014"],"related_works":["https://openalex.org/W2051851664","https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W2658066576","https://openalex.org/W2966856634","https://openalex.org/W3165231051","https://openalex.org/W2364297307","https://openalex.org/W4285723892","https://openalex.org/W2328317394"],"abstract_inverted_index":{"All":[0],"countries":[1],"in":[2],"the":[3,15,22,25,40,44,61,77,86,92,100,105,108,116,119,123,127,134,137,142],"world":[4],"today":[5],"have":[6,31],"different":[7],"degrees":[8],"of":[9,43,63,91,99,118,126,136,144],"aging.":[10],"In":[11],"order":[12],"to":[13,17,114],"help":[14],"elderly":[16],"walk":[18],"properly,":[19],"based":[20],"on":[21],"analysis":[23],"about":[24],"common":[26,71],"walking":[27,35,41,47,72,78,93,138],"stick,":[28],"this":[29],"paper":[30],"developed":[32],"a":[33,96],"smart":[34],"stick":[36,73,94,139],"robot":[37,101],"which":[38],"meets":[39],"habits":[42],"elderly.":[45],"The":[46,129],"stick's":[48,79],"use":[49],"process":[50,90],"is":[51,82,102,112],"divided":[52],"into":[53],"supporting":[54],"state":[55],"and":[56,66,70,88,141],"non-support":[57],"state.":[58],"By":[59,84],"analyzing":[60,85],"variation":[62],"force,":[64],"moment":[65],"angle":[67],"between":[68],"users":[69],"under":[74],"two":[75],"conditions,":[76],"mathematical":[80],"model":[81,98,111,140],"established.":[83,103],"structure":[87],"movement":[89],"robot,":[95],"dynamic":[97],"At":[104],"same":[106],"time,":[107],"admittance":[109,145],"control":[110],"used":[113],"satisfy":[115],"suppleness":[117],"force":[120],"by":[121],"controlling":[122],"chassis":[124],"motion":[125],"robot.":[128],"final":[130],"design":[131],"experiment":[132],"verified":[133],"validity":[135],"adequacy":[143],"control.":[146]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}