{"id":"https://openalex.org/W2591223176","doi":"https://doi.org/10.1142/s0219843617500025","title":"Fuzzy Control for Walking Balance of the Biped Robot Using ZMP Criterion","display_name":"Fuzzy Control for Walking Balance of the Biped Robot Using ZMP Criterion","publication_year":2017,"publication_date":"2017-02-22","ids":{"openalex":"https://openalex.org/W2591223176","doi":"https://doi.org/10.1142/s0219843617500025","mag":"2591223176"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843617500025","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843617500025","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5043873912","display_name":"Tran Huu Luat","orcid":null},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Tran Huu Luat","raw_affiliation_strings":["Department of Electrical, Electronic and Control Engineering, Hankyong National University, 327 Joongang-ro, Anseong, Gyeonggi-do 456-749, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Control Engineering, Hankyong National University, 327 Joongang-ro, Anseong, Gyeonggi-do 456-749, Korea","institution_ids":["https://openalex.org/I119060216"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100658302","display_name":"Yong\u2010Tae Kim","orcid":"https://orcid.org/0000-0001-9232-6558"},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Tae Kim","raw_affiliation_strings":["Department of Electrical, Electronic and Control Engineering, Hankyong National University, 327 Joongang-ro, Anseong, Gyeonggi-do 456-749, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronic and Control Engineering, Hankyong National University, 327 Joongang-ro, Anseong, Gyeonggi-do 456-749, Korea","institution_ids":["https://openalex.org/I119060216"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6563,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.66775467,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"14","issue":"02","first_page":"1750002","last_page":"1750002"},"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":0.9764000177383423,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9524000287055969,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/control-theory","display_name":"Control theory (sociology)","score":0.7664741277694702},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7255643010139465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7241143584251404},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6105278134346008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5567363500595093},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5517942905426025},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5166259407997131},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4581853449344635},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.45377877354621887},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44920456409454346},{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.428619921207428},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3279566466808319},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.320838987827301},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17237696051597595},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.15979373455047607},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1480236053466797},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13876157999038696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11064654588699341}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7664741277694702},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7255643010139465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7241143584251404},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6105278134346008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5567363500595093},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5517942905426025},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5166259407997131},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4581853449344635},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.45377877354621887},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44920456409454346},{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.428619921207428},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3279566466808319},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.320838987827301},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17237696051597595},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.15979373455047607},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1480236053466797},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13876157999038696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11064654588699341},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843617500025","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843617500025","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W170988124","https://openalex.org/W2092271935","https://openalex.org/W2113052819","https://openalex.org/W2127763473","https://openalex.org/W2133859362","https://openalex.org/W2140764512","https://openalex.org/W2592090813"],"related_works":["https://openalex.org/W1829175078","https://openalex.org/W2606527650","https://openalex.org/W2130383927","https://openalex.org/W2133801610","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2120357486","https://openalex.org/W2034988786","https://openalex.org/W2220923292","https://openalex.org/W2163503851"],"abstract_inverted_index":{"The":[0,53,70,141],"dynamic":[1,31,127,147],"walking":[2,55,148],"stability":[3,145],"of":[4,30,65,146],"biped":[5,112,122],"robot":[6,54,113,123],"is":[7,24,73,132],"a":[8,35,86],"challenging":[9],"research":[10],"topic.":[11],"In":[12,95,115],"this":[13,116],"paper,":[14],"the":[15,28,46,49,60,63,68,77,80,90,99,104,111,121,137,153],"fuzzy":[16,71],"controller":[17,72],"on":[18],"zero":[19],"movement":[20],"point":[21],"(ZMP)":[22],"criterion":[23],"implemented":[25],"to":[26,42,75,97,134,151],"maintain":[27],"balance":[29],"walking.":[32,128],"We":[33],"designed":[34,133],"force":[36],"sensitive":[37],"resistor":[38],"(FSR)":[39],"sensor":[40],"circuits":[41],"collect":[43],"information":[44],"from":[45,110],"sensors":[47],"for":[48,89,125,144],"ZMP":[50,61,78,81,100,138],"trajectory":[51,139],"tracking.":[52],"has":[56],"an":[57],"imbalance":[58],"when":[59],"shows":[62],"risk":[64],"moving":[66],"out":[67],"footprint.":[69],"provided":[74],"drive":[76],"inside":[79],"reference":[82],"area,":[83],"by":[84],"adjusting":[85],"suitable":[87],"angle":[88],"ankle":[91],"and":[92,107],"hip":[93],"joint.":[94],"order":[96],"determine":[98],"reference,":[101],"we":[102,118],"compute":[103],"inverse":[105],"kinematic":[106],"Jacobian":[108],"coordinates":[109],"model.":[114],"research,":[117],"also":[119],"introduce":[120],"configuration":[124],"control":[126],"A":[129],"user":[130],"interface":[131],"conventionally":[135],"observe":[136],"generation.":[140],"experimental":[142],"results":[143],"are":[149],"presented":[150],"appreciate":[152],"proposed":[154],"method.":[155]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
