{"id":"https://openalex.org/W4312392590","doi":"https://doi.org/10.1109/iros47612.2022.9981889","title":"Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole","display_name":"Walking Control Framework on Uneven Terrain Using Variable Stiffness Sole","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312392590","doi":"https://doi.org/10.1109/iros47612.2022.9981889"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981889","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5050894191","display_name":"Yun-Ho Han","orcid":"https://orcid.org/0000-0002-6676-1334"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yun-Ho Han","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023506902","display_name":"Junyeon Namgung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junyeon Namgung","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5033709923","display_name":"Baek\u2010Kyu Cho","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Baek-Kyu Cho","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050894191"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9641,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73808087,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8328","last_page":"8335"},"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":0.9937000274658203,"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":0.9419000148773193,"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/terrain","display_name":"Terrain","score":0.8128620982170105},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7227411270141602},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6881232261657715},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6049743294715881},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5711941719055176},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5616682171821594},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5477147102355957},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4885169267654419},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4670010805130005},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4227561950683594},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.41741225123405457},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39175722002983093},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35261619091033936},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33296501636505127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32742947340011597},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.28273317217826843},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2676864266395569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2094954252243042},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07210040092468262},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06616610288619995},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.058426350355148315}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8128620982170105},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7227411270141602},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6881232261657715},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6049743294715881},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5711941719055176},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5616682171821594},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5477147102355957},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4885169267654419},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4670010805130005},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4227561950683594},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.41741225123405457},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39175722002983093},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35261619091033936},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33296501636505127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32742947340011597},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.28273317217826843},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2676864266395569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2094954252243042},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07210040092468262},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06616610288619995},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.058426350355148315},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981889","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981889","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W792948349","https://openalex.org/W1945123189","https://openalex.org/W1964173271","https://openalex.org/W1967365365","https://openalex.org/W1969752069","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2006564886","https://openalex.org/W2036484113","https://openalex.org/W2080403628","https://openalex.org/W2084693106","https://openalex.org/W2089476757","https://openalex.org/W2096291722","https://openalex.org/W2099129715","https://openalex.org/W2118840382","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2539534359","https://openalex.org/W2544013339","https://openalex.org/W2774990687","https://openalex.org/W2892020016","https://openalex.org/W2966463142","https://openalex.org/W4249010688"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2281433634","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2086896406","https://openalex.org/W2402852349","https://openalex.org/W2166058540"],"abstract_inverted_index":{"Although":[0],"many":[1],"walking":[2,67,84,110,132],"control":[3,68,85],"frameworks":[4],"have":[5,32],"been":[6],"developed":[7,33,80],"to":[8,12,42,44,92,101,118],"enable":[9],"biped":[10,75],"robots":[11],"walk":[13],"stably":[14],"on":[15,50,70,111,141],"uneven":[16,71,112,146],"terrain,":[17,113],"the":[18,22,45,48,51,79,94,102,120,123,126,138],"foot":[19],"sole":[20],"of":[21,47,122,134],"robot":[23,76],"is":[24,40],"also":[25],"important.":[26],"Inspired":[27],"by":[28],"that":[29],"study,":[30],"we":[31,64],"a":[34,66,74,88,115,142],"Variable":[35],"Stiffness":[36],"Sole":[37],"(VSS),":[38],"which":[39],"able":[41],"adapt":[43],"shape":[46],"obstacles":[49],"ground":[52],"in":[53,60],"Compliant":[54],"Mode":[55],"and":[56,114,145],"provide":[57],"robust":[58],"support":[59],"Stiff":[61],"Mode.":[62],"Furthermore,":[63],"proposed":[65,83,127],"framework":[69,86,128],"terrain":[72,147],"for":[73,109],"equipped":[77,136],"with":[78,137,148],"VSS.":[81,124],"The":[82],"comprises":[87],"posture":[89],"balance":[90],"controller":[91,108,117],"stabilize":[93],"zero":[95],"moment":[96],"point":[97],"from":[98],"disturbances":[99],"applied":[100],"robot,":[103],"an":[104],"ankle":[105],"torque/foot":[106],"force":[107],"VSS":[116,139],"change":[119],"mode":[121],"Finally,":[125],"was":[129],"verified":[130],"through":[131],"experiments":[133],"RoK-3":[135],"module":[140],"single":[143],"obstacle":[144],"various":[149],"obstacles.":[150]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}