{"id":"https://openalex.org/W4319456359","doi":"https://doi.org/10.1155/2023/3197743","title":"Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays","display_name":"Stable Bilateral Teleoperation Control Method for Biped Robots with Time-Varying Delays","publication_year":2023,"publication_date":"2023-02-08","ids":{"openalex":"https://openalex.org/W4319456359","doi":"https://doi.org/10.1155/2023/3197743"},"language":"en","primary_location":{"id":"doi:10.1155/2023/3197743","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1155/2023/3197743","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/2023/3197743","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/2023/3197743","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059306382","display_name":"Viviana Moya","orcid":"https://orcid.org/0000-0002-6064-6925"},"institutions":[{"id":"https://openalex.org/I4210140740","display_name":"Universidad Internacional del Ecuador","ror":"https://ror.org/04xf2rc74","country_code":"EC","type":"education","lineage":["https://openalex.org/I4210140740"]}],"countries":["EC"],"is_corresponding":true,"raw_author_name":"Viviana Moya","raw_affiliation_strings":["International University of Ecuador, Quito, Ecuador"],"raw_orcid":"https://orcid.org/0000-0002-6064-6925","affiliations":[{"raw_affiliation_string":"International University of Ecuador, Quito, Ecuador","institution_ids":["https://openalex.org/I4210140740"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067918633","display_name":"Emanuel Slawi\u00f1ski","orcid":"https://orcid.org/0000-0002-9828-4595"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Emanuel Slawi\u00f1ski","raw_affiliation_strings":["National University of San Juan, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of San Juan, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078318123","display_name":"Vicente Mut","orcid":"https://orcid.org/0000-0003-2853-0014"},"institutions":[{"id":"https://openalex.org/I39553462","display_name":"National University of San Juan","ror":"https://ror.org/02rsnav77","country_code":"AR","type":"education","lineage":["https://openalex.org/I39553462"]}],"countries":["AR"],"is_corresponding":false,"raw_author_name":"Vicente Mut","raw_affiliation_strings":["National University of San Juan, San Juan, Argentina"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National University of San Juan, San Juan, Argentina","institution_ids":["https://openalex.org/I39553462"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030400864","display_name":"Danilo Ch\u00e1vez","orcid":"https://orcid.org/0000-0002-7529-9006"},"institutions":[{"id":"https://openalex.org/I70764802","display_name":"National Polytechnic School","ror":"https://ror.org/01gb99w41","country_code":"EC","type":"education","lineage":["https://openalex.org/I70764802"]}],"countries":["EC"],"is_corresponding":false,"raw_author_name":"Danilo Ch\u00e1vez","raw_affiliation_strings":["National Polytechnic School, Quito, Ecuador"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Polytechnic School, Quito, Ecuador","institution_ids":["https://openalex.org/I70764802"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101541221","display_name":"Bernardo Wagner","orcid":"https://orcid.org/0000-0001-5900-0935"},"institutions":[{"id":"https://openalex.org/I114112103","display_name":"Leibniz University Hannover","ror":"https://ror.org/0304hq317","country_code":"DE","type":"education","lineage":["https://openalex.org/I114112103"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bernardo Wagner","raw_affiliation_strings":["Leibniz University Hannover, Hanover, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Leibniz University Hannover, Hanover, Germany","institution_ids":["https://openalex.org/I114112103"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059306382"],"corresponding_institution_ids":["https://openalex.org/I4210140740"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":492,"currency":"EUR","value_usd":530},"fwci":0.486,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.56896913,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"2023","issue":null,"first_page":"1","last_page":"16"},"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":0.9987000226974487,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/teleoperation","display_name":"Teleoperation","score":0.9440615177154541},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7850412130355835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7030216455459595},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5221664905548096},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49599847197532654},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49489063024520874},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4716310501098633},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4163866341114044},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3995203673839569},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2188444435596466},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09517765045166016}],"concepts":[{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.9440615177154541},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7850412130355835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7030216455459595},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5221664905548096},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49599847197532654},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49489063024520874},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4716310501098633},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4163866341114044},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3995203673839569},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2188444435596466},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09517765045166016},{"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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1155/2023/3197743","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1155/2023/3197743","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/2023/3197743","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},{"id":"pmh:oai:www.repo.uni-hannover.de:123456789/14927","is_oa":true,"landing_page_url":"https://www.repo.uni-hannover.de/handle/123456789/14927","pdf_url":"https://repo.uni-hannover.de/bitstreams/dc34c00a-49fb-4b67-a34e-f3043e95f0b3/download","source":{"id":"https://openalex.org/S4306401575","display_name":"Institutional Repository of Leibniz Universit\u00e4t Hannover (Leibniz Universit\u00e4t Hannover)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114112103","host_organization_name":"Leibniz University Hannover","host_organization_lineage":["https://openalex.org/I114112103"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics 2023 (2023)","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:doaj.org/article:4aee7b34aaed4674bdfe713a44e5a2f1","is_oa":true,"landing_page_url":"https://doaj.org/article/4aee7b34aaed4674bdfe713a44e5a2f1","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Robotics, Vol 2023 (2023)","raw_type":"article"},{"id":"pmh:oai:hindawi.com:10.1155/2023/3197743","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2023/3197743","pdf_url":null,"source":{"id":"https://openalex.org/S4306400340","display_name":"Hindawi Journal of Chemistry (Hindawi)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210126990","host_organization_name":"Hindawi (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210126990"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Research Article"},{"id":"pmh:oai:ri.conicet.gov.ar:11336/227353","is_oa":true,"landing_page_url":"http://hdl.handle.net/11336/227353","pdf_url":null,"source":{"id":"https://openalex.org/S4306401400","display_name":"Conicet","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210104196","host_organization_name":"Centro Cient\u00edfico Tecnol\u00f3gico - Nordeste","host_organization_lineage":["https://openalex.org/I4210104196"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},{"id":"doi:10.15488/14808","is_oa":true,"landing_page_url":"https://doi.org/10.15488/14808","pdf_url":null,"source":{"id":"https://openalex.org/S7407052956","display_name":"Leibniz Universit\u00e4t Hannover","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":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.1155/2023/3197743","is_oa":true,"landing_page_url":"http://dx.doi.org/10.1155/2023/3197743","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1155/2023/3197743","source":{"id":"https://openalex.org/S176211327","display_name":"Journal of Robotics","issn_l":"1687-9600","issn":["1687-9600","1687-9619"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"},{"id":"https://openalex.org/F4320322379","display_name":"Gottfried Wilhelm Leibniz Universit\u00e4t Hannover","ror":"https://ror.org/0304hq317"},{"id":"https://openalex.org/F4320334763","display_name":"Leibniz-Gemeinschaft","ror":"https://ror.org/01n6r0e97"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319456359.pdf","grobid_xml":"https://content.openalex.org/works/W4319456359.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W1504362584","https://openalex.org/W1586390051","https://openalex.org/W2029058516","https://openalex.org/W2082997813","https://openalex.org/W2086979750","https://openalex.org/W2089476757","https://openalex.org/W2105369176","https://openalex.org/W2142161411","https://openalex.org/W2143717973","https://openalex.org/W2163668399","https://openalex.org/W2163764169","https://openalex.org/W2168507184","https://openalex.org/W2171879251","https://openalex.org/W2211810156","https://openalex.org/W2291483876","https://openalex.org/W2610901891","https://openalex.org/W2788244128","https://openalex.org/W2887858188","https://openalex.org/W2982341362","https://openalex.org/W3011806615","https://openalex.org/W3042927033","https://openalex.org/W3047351634","https://openalex.org/W3135868874","https://openalex.org/W6605425664"],"related_works":["https://openalex.org/W1923069992","https://openalex.org/W2160982102","https://openalex.org/W2048862765","https://openalex.org/W2770942502","https://openalex.org/W4281943815","https://openalex.org/W2364738582","https://openalex.org/W2160932924","https://openalex.org/W2082997813","https://openalex.org/W2296377172","https://openalex.org/W2946737911"],"abstract_inverted_index":{"This":[0,26],"document":[1],"proposes":[2],"a":[3,18,32,40,96,109,165,210],"control":[4],"scheme":[5],"applied":[6],"to":[7,63,69,87,182,192,205,215],"delayed":[8,142],"bilateral":[9,131,138],"teleoperation":[10,90,143,226],"of":[11,17,120,129,140,168,186,228],"the":[12,44,51,54,66,70,75,79,89,121,127,130,137,141,146,152,156,169,174,179,184,187,233],"forward":[13,47],"and":[14,23,48,78,103,125,155,178,196,217,237],"turn":[15],"speed":[16],"biped":[19,27],"robot":[20,28,231],"against":[21],"asymmetric":[22],"time-varying":[24],"delays.":[25],"is":[29,61,101,116,240],"modeled":[30],"as":[31,39],"hybrid":[33,170],"dynamic":[34,123],"system":[35,42,91,204],"because":[36],"it":[37],"behaves":[38],"continuous":[41,203],"when":[43,50],"leg":[45],"moves":[46],"discrete":[49],"foot":[52],"touches":[53],"ground":[55],"generating":[56],"an":[57,84,117,201,224,229],"impulsive":[58],"response.":[59],"It":[60],"proposed":[62],"vary":[64],"online":[65],"damping":[67,154,159,181],"according":[68],"time":[71,82,177],"delay":[72],"present":[73],"in":[74,108],"communication":[76],"channel,":[77],"walking":[80,175],"cycle":[81,176],"using":[83,145],"optimization":[85],"criterion,":[86],"decrease":[88],"errors.":[92],"To":[93],"accomplish":[94],"this,":[95],"three-phase":[97],"cascade":[98],"calibration":[99,119],"process":[100],"used,":[102],"their":[104],"benefits":[105],"are":[106],"evidenced":[107],"comparative":[110],"simulation":[111],"study.":[112],"The":[113,133,161],"first":[114],"phase":[115,135,163],"offline":[118],"inverse":[122],"compensation":[124],"also":[126],"parameters":[128],"controller.":[132],"second":[134],"guarantees":[136],"coordination":[139],"system,":[144],"Lyapunov\u2013Krasovskii":[147],"stability":[148],"theory,":[149],"by":[150,172],"changing":[151],"leader":[153],"equivalent":[157,202],"follower":[158],"together.":[160],"third":[162],"assures":[164],"stable":[166,193],"walk":[167],"dynamics":[171],"controlling":[173],"real":[180],"move":[183],"eigenvalues":[185],"Poincar\u00e9":[188],"map,":[189],"numerically":[190],"computed,":[191],"limit":[194],"cycles":[195],"link":[197],"this":[198],"result":[199],"with":[200,221],"join":[206],"both":[207],"phases.":[208],"Additionally,":[209],"fictitious":[211],"force":[212,236],"was":[213],"implemented":[214],"detect":[216],"avoid":[218],"possible":[219],"collisions":[220],"obstacles.":[222],"Finally,":[223],"intercontinental":[225],"experiment":[227],"NAO":[230],"via":[232],"Internet":[234],"including":[235],"visual":[238],"feedback":[239],"shown.":[241]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
