{"id":"https://openalex.org/W4405481555","doi":"https://doi.org/10.1145/3702468.3702469","title":"Design and control of a bipedal upright natural walking robot based on a simplified model of virtual legs","display_name":"Design and control of a bipedal upright natural walking robot based on a simplified model of virtual legs","publication_year":2024,"publication_date":"2024-09-12","ids":{"openalex":"https://openalex.org/W4405481555","doi":"https://doi.org/10.1145/3702468.3702469"},"language":"en","primary_location":{"id":"doi:10.1145/3702468.3702469","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702468.3702469","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702468.3702469?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 7th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://dl.acm.org/doi/pdf/10.1145/3702468.3702469?download=true","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5061561963","display_name":"JiaLong Li","orcid":null},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"JiaLong Li","raw_affiliation_strings":["University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021667837","display_name":"Qingdu Li","orcid":"https://orcid.org/0000-0001-9928-7272"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"QingDu Li","raw_affiliation_strings":["University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071921583","display_name":"Jun Tang","orcid":"https://orcid.org/0000-0002-5819-7083"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Tang","raw_affiliation_strings":["University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"last","author":{"id":null,"display_name":"ZhiYuan Liang","orcid":"https://orcid.org/0009-0005-9491-8123"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"ZhiYuan Liang","raw_affiliation_strings":["University of Shanghai for Science and Technology, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5061561963"],"corresponding_institution_ids":["https://openalex.org/I148128674"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.21303251,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9958000183105469,"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":0.954200029373169,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6771574020385742},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.6740433573722839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5637973546981812},{"id":"https://openalex.org/keywords/natural","display_name":"Natural (archaeology)","score":0.5578888058662415},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4988741874694824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38309526443481445},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3298393189907074},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32966333627700806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25739413499832153},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25397321581840515},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.06860840320587158}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6771574020385742},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.6740433573722839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5637973546981812},{"id":"https://openalex.org/C2776608160","wikidata":"https://www.wikidata.org/wiki/Q4785462","display_name":"Natural (archaeology)","level":2,"score":0.5578888058662415},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4988741874694824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38309526443481445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3298393189907074},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32966333627700806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25739413499832153},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25397321581840515},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.06860840320587158},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3702468.3702469","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702468.3702469","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702468.3702469?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 7th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.1145/3702468.3702469","is_oa":true,"landing_page_url":"https://doi.org/10.1145/3702468.3702469","pdf_url":"https://dl.acm.org/doi/pdf/10.1145/3702468.3702469?download=true","source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2024 7th International Conference on Robot Systems and Applications","raw_type":"proceedings-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7437864264","display_name":null,"funder_award_id":"201906","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7857932966","display_name":null,"funder_award_id":"92048205","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405481555.pdf","grobid_xml":"https://content.openalex.org/works/W4405481555.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W1978880990","https://openalex.org/W1999147415","https://openalex.org/W2019606703","https://openalex.org/W2044323243","https://openalex.org/W2087006469","https://openalex.org/W2168291627","https://openalex.org/W2900391154","https://openalex.org/W2954730031","https://openalex.org/W3094888885","https://openalex.org/W3139849233","https://openalex.org/W3206338439","https://openalex.org/W4295856028","https://openalex.org/W4387350711"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W4394636324"],"abstract_inverted_index":{"We":[0],"present":[1],"the":[2,21,28,79,101,104,113,128,133],"design":[3],"and":[4,39,63,107,120,124,130,137],"control":[5,138],"method":[6],"for":[7],"a":[8,14,47,59,87],"biped":[9],"walking":[10,96],"robot":[11,26,50,114,135],"based":[12,66],"on":[13,67],"simplified":[15],"model":[16,74,106],"with":[17,58],"virtual":[18],"legs.":[19],"Addressing":[20],"development":[22],"history":[23],"of":[24,103,132],"bipedal":[25,49],"technology,":[27],"paper":[29],"highlights":[30],"current":[31],"issues":[32],"such":[33],"as":[34],"bulky":[35],"structures,":[36],"unstable":[37],"gaits,":[38],"low":[40],"energy":[41],"efficiency.":[42],"To":[43],"tackle":[44],"these":[45],"challenges,":[46],"new":[48],"structure":[51,136],"using":[52],"tendon-driven":[53],"actuation":[54],"is":[55,75,92],"designed,":[56],"along":[57],"real-time":[60],"gait":[61,83],"generation":[62],"compensation":[64,90],"algorithm":[65],"Model":[68],"Predictive":[69],"Control":[70],"(MPC).":[71],"The":[72,109],"table-cart":[73],"used":[76],"to":[77,94],"simplify":[78],"dynamics,":[80],"generating":[81],"smooth":[82],"motion":[84],"patterns.":[85],"Additionally,":[86],"posture":[88,121],"error":[89],"system":[91],"designed":[93],"enhance":[95],"stability.":[97],"Simulation":[98],"experiments":[99],"validate":[100],"effectiveness":[102,131],"proposed":[105,134],"algorithm.":[108,139],"results":[110],"demonstrate":[111],"that":[112],"achieves":[115],"stable":[116],"joint":[117],"trajectory":[118],"tracking":[119],"during":[122],"forward":[123],"lateral":[125],"walking,":[126],"confirming":[127],"feasibility":[129]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
