{"id":"https://openalex.org/W2563461778","doi":"https://doi.org/10.1109/iros.2016.7759854","title":"A novel performance measure for biped robots against bounded persistent disturbances","display_name":"A novel performance measure for biped robots against bounded persistent disturbances","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2563461778","doi":"https://doi.org/10.1109/iros.2016.7759854","mag":"2563461778"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100333069","display_name":"Jung Hoon Kim","orcid":"https://orcid.org/0000-0002-5387-2895"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Hoon Kim","raw_affiliation_strings":["Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]},{"id":"https://openalex.org/I88761825","display_name":"Korea University of Science and Technology","ror":"https://ror.org/000qzf213","country_code":"KR","type":"education","lineage":["https://openalex.org/I88761825"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea","Department of Human-Computer Interaction and Robotics, University of Science and Technology(UST), Daejeon, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Robotics Research, Robotics and Media Institute, Korea Institute of Science and Technology(KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Department of Human-Computer Interaction and Robotics, University of Science and Technology(UST), Daejeon, Korea","institution_ids":["https://openalex.org/I88761825"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3412,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.64975924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"28","issue":null,"first_page":"5805","last_page":"5812"},"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":0.9757999777793884,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9611999988555908,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.8288372755050659},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7271044850349426},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6970787048339844},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6527258157730103},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6137123107910156},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6089097857475281},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.6046266555786133},{"id":"https://openalex.org/keywords/sort","display_name":"sort","score":0.5858359932899475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4256800711154938},{"id":"https://openalex.org/keywords/norm","display_name":"Norm (philosophy)","score":0.4212881326675415},{"id":"https://openalex.org/keywords/variance","display_name":"Variance (accounting)","score":0.4194068908691406},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.354327917098999},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33768606185913086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2771878242492676},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.12302985787391663},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11620092391967773},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08371543884277344}],"concepts":[{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.8288372755050659},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7271044850349426},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6970787048339844},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6527258157730103},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6137123107910156},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6089097857475281},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.6046266555786133},{"id":"https://openalex.org/C88548561","wikidata":"https://www.wikidata.org/wiki/Q347599","display_name":"sort","level":2,"score":0.5858359932899475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4256800711154938},{"id":"https://openalex.org/C191795146","wikidata":"https://www.wikidata.org/wiki/Q3878446","display_name":"Norm (philosophy)","level":2,"score":0.4212881326675415},{"id":"https://openalex.org/C196083921","wikidata":"https://www.wikidata.org/wiki/Q7915758","display_name":"Variance (accounting)","level":2,"score":0.4194068908691406},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.354327917098999},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33768606185913086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2771878242492676},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.12302985787391663},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11620092391967773},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08371543884277344},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0},{"id":"https://openalex.org/C121955636","wikidata":"https://www.wikidata.org/wiki/Q4116214","display_name":"Accounting","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/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759854","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759854","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/99088","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/99088","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang 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/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W599706876","https://openalex.org/W1487434675","https://openalex.org/W1504362584","https://openalex.org/W1549831266","https://openalex.org/W1587896752","https://openalex.org/W1820821744","https://openalex.org/W1833562170","https://openalex.org/W1968160270","https://openalex.org/W1978083641","https://openalex.org/W1978102433","https://openalex.org/W1979422127","https://openalex.org/W1981690142","https://openalex.org/W1982880998","https://openalex.org/W1993314711","https://openalex.org/W1995409582","https://openalex.org/W1997111443","https://openalex.org/W2008342119","https://openalex.org/W2009478121","https://openalex.org/W2016102421","https://openalex.org/W2029107384","https://openalex.org/W2031868218","https://openalex.org/W2037729465","https://openalex.org/W2045834742","https://openalex.org/W2051287096","https://openalex.org/W2052842736","https://openalex.org/W2057042011","https://openalex.org/W2085782509","https://openalex.org/W2089794599","https://openalex.org/W2089876099","https://openalex.org/W2095840481","https://openalex.org/W2119702768","https://openalex.org/W2127580532","https://openalex.org/W2131965724","https://openalex.org/W2138671676","https://openalex.org/W2145944877","https://openalex.org/W2148074858","https://openalex.org/W2156018100","https://openalex.org/W2170420143","https://openalex.org/W2174324541","https://openalex.org/W2281965139","https://openalex.org/W2343497614","https://openalex.org/W2420347861","https://openalex.org/W3040940214"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W2361805396","https://openalex.org/W1743191351","https://openalex.org/W2972254340","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W2090422802"],"abstract_inverted_index":{"Despite":[0],"successful":[1],"demonstrations":[2],"of":[3,44,56,96,123,153,155],"outdoor":[4],"walking":[5,62],"by":[6,29,112,129],"a":[7,54,86,106],"few":[8],"biped":[9,91],"robots,":[10,92],"performance":[11,23,48,88],"measure":[12,24,49,89,134,157],"for":[13,59,90,136],"such":[14,47],"robots":[15],"has":[16],"not":[17],"been":[18],"formally":[19],"defined":[20,28,79],"yet.":[21],"The":[22,133],"should":[25],"be":[26,64],"adequately":[27],"which":[30,124,160],"one":[31],"can":[32],"evaluate":[33],"how":[34],"well":[35],"the":[36,42,72,81,94,104,137,142,164],"robot":[37],"keeps":[38],"from":[39,146],"falling":[40],"in":[41,93],"presence":[43,95],"disturbance.":[45,99],"If":[46],"is":[50,110,127,139,158],"suitably":[51],"determined,":[52],"designing":[53],"sort":[55],"optimal":[57],"controller":[58],"stable":[60],"outside":[61],"would":[63],"possible.":[65],"This":[66],"paper":[67],"firstly":[68],"suggests":[69],"to":[70,102,118],"adopt":[71],"l":[73],"<inf":[74],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[75],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u221e</inf>":[76],"-induced":[77],"norm":[78],"on":[80,120],"linearized":[82],"Poincar\u00e8":[83],"map":[84],"as":[85],"novel":[87],"bounded":[97,128],"persistent":[98],"In":[100],"order":[101],"validate":[103],"measure,":[105],"nonlinear":[107,147],"dynamic":[108,148],"simulation":[109],"conducted":[111],"extending":[113],"an":[114,151],"existing":[115],"simple":[116],"model":[117,138],"walk":[119],"rough":[121],"terrain,":[122],"height":[125],"variance":[126],"some":[130],"maximum":[131],"value.":[132],"exploited":[135],"compared":[140],"with":[141],"numerical":[143],"result":[144],"obtained":[145],"simulation.":[149],"Finally,":[150],"example":[152],"application":[154],"this":[156],"provided,":[159],"successfully":[161],"predicts":[162],"whether":[163],"system":[165],"could":[166],"overcome":[167],"upcoming":[168],"terrain":[169],"roughness.":[170]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
