{"id":"https://openalex.org/W4392743306","doi":"https://doi.org/10.1155/2024/6692666","title":"Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control","display_name":"Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control","publication_year":2024,"publication_date":"2024-03-13","ids":{"openalex":"https://openalex.org/W4392743306","doi":"https://doi.org/10.1155/2024/6692666"},"language":"en","primary_location":{"id":"doi:10.1155/2024/6692666","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/6692666","pdf_url":"https://downloads.hindawi.com/journals/jr/2024/6692666.pdf","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","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/jr/2024/6692666.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009407948","display_name":"Hayder F. N. Al-Shuka","orcid":"https://orcid.org/0000-0002-4041-385X"},"institutions":[{"id":"https://openalex.org/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]}],"countries":["IQ"],"is_corresponding":true,"raw_author_name":"Hayder F. N. Al-Shuka","raw_affiliation_strings":["Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0002-4041-385X","affiliations":[{"raw_affiliation_string":"Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025556572","display_name":"Ahmed H. Kaleel","orcid":"https://orcid.org/0000-0001-5854-7357"},"institutions":[{"id":"https://openalex.org/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Ahmed H. Kaleel","raw_affiliation_strings":["Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0001-5854-7357","affiliations":[{"raw_affiliation_string":"Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110791801","display_name":"Basim A. R. Al-Bakri","orcid":null},"institutions":[{"id":"https://openalex.org/I135120706","display_name":"University of Baghdad","ror":"https://ror.org/007f1da21","country_code":"IQ","type":"education","lineage":["https://openalex.org/I135120706"]}],"countries":["IQ"],"is_corresponding":false,"raw_author_name":"Basim A. R. Al-Bakri","raw_affiliation_strings":["Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0001-8208-5308","affiliations":[{"raw_affiliation_string":"Department of Aeronautical Engineering, College of Engineering, University of Baghdad, Baghdad, Iraq","institution_ids":["https://openalex.org/I135120706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5009407948"],"corresponding_institution_ids":["https://openalex.org/I135120706"],"apc_list":{"value":900,"currency":"USD","value_usd":900},"apc_paid":{"value":900,"currency":"USD","value_usd":900},"fwci":0.672,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63705019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"2024","issue":null,"first_page":"1","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9973999857902527,"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/computer-science","display_name":"Computer science","score":0.844784140586853},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6646121740341187},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6419302225112915},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6117616295814514},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5932369828224182},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5108794569969177},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4561232626438141},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3413967788219452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.276359498500824}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.844784140586853},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6646121740341187},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6419302225112915},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6117616295814514},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5932369828224182},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5108794569969177},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4561232626438141},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3413967788219452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.276359498500824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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":2,"locations":[{"id":"doi:10.1155/2024/6692666","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/6692666","pdf_url":"https://downloads.hindawi.com/journals/jr/2024/6692666.pdf","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:doaj.org/article:4eb17124de074bd48bb4f338cc4bdc66","is_oa":true,"landing_page_url":"https://doaj.org/article/4eb17124de074bd48bb4f338cc4bdc66","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 2024 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2024/6692666","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2024/6692666","pdf_url":"https://downloads.hindawi.com/journals/jr/2024/6692666.pdf","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":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4392743306.pdf","grobid_xml":"https://content.openalex.org/works/W4392743306.grobid-xml"},"referenced_works_count":91,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W566530810","https://openalex.org/W575905749","https://openalex.org/W1485341519","https://openalex.org/W1487127700","https://openalex.org/W1496777766","https://openalex.org/W1504362584","https://openalex.org/W1554765194","https://openalex.org/W1568049844","https://openalex.org/W1582076359","https://openalex.org/W1608835701","https://openalex.org/W1853143499","https://openalex.org/W1922011966","https://openalex.org/W1937967612","https://openalex.org/W1947406625","https://openalex.org/W1962612253","https://openalex.org/W1976908355","https://openalex.org/W1993837092","https://openalex.org/W2018882790","https://openalex.org/W2043475156","https://openalex.org/W2046636826","https://openalex.org/W2047461917","https://openalex.org/W2057750803","https://openalex.org/W2059114576","https://openalex.org/W2061914803","https://openalex.org/W2062940189","https://openalex.org/W2074172217","https://openalex.org/W2074473514","https://openalex.org/W2085366510","https://openalex.org/W2102564968","https://openalex.org/W2103782731","https://openalex.org/W2104709070","https://openalex.org/W2106228772","https://openalex.org/W2107063340","https://openalex.org/W2107506729","https://openalex.org/W2112651309","https://openalex.org/W2114847465","https://openalex.org/W2119534895","https://openalex.org/W2120435658","https://openalex.org/W2122827816","https://openalex.org/W2123138877","https://openalex.org/W2128166584","https://openalex.org/W2130998187","https://openalex.org/W2133859362","https://openalex.org/W2137300190","https://openalex.org/W2138048672","https://openalex.org/W2138671676","https://openalex.org/W2143982885","https://openalex.org/W2146372714","https://openalex.org/W2150024155","https://openalex.org/W2150765216","https://openalex.org/W2151113498","https://openalex.org/W2156671238","https://openalex.org/W2161715041","https://openalex.org/W2165178808","https://openalex.org/W2181731440","https://openalex.org/W2188422583","https://openalex.org/W2246444059","https://openalex.org/W2461181622","https://openalex.org/W2504581443","https://openalex.org/W2539818546","https://openalex.org/W2586963032","https://openalex.org/W2810320615","https://openalex.org/W2897330869","https://openalex.org/W2913971027","https://openalex.org/W2944460892","https://openalex.org/W2963810454","https://openalex.org/W2976032235","https://openalex.org/W3047682398","https://openalex.org/W3096749928","https://openalex.org/W4200096034","https://openalex.org/W4206324146","https://openalex.org/W4210939600","https://openalex.org/W4234832683","https://openalex.org/W4251642869","https://openalex.org/W4281655345","https://openalex.org/W4288064437","https://openalex.org/W4308325163","https://openalex.org/W4319787917","https://openalex.org/W4320920759","https://openalex.org/W4360835337","https://openalex.org/W4361018338","https://openalex.org/W4362500729","https://openalex.org/W4366609476","https://openalex.org/W4375854324","https://openalex.org/W4385751984","https://openalex.org/W4385819939","https://openalex.org/W4387123835","https://openalex.org/W4387324682","https://openalex.org/W4388459128","https://openalex.org/W4392165417"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W1996130883","https://openalex.org/W2748574964","https://openalex.org/W2023861399","https://openalex.org/W2730915376","https://openalex.org/W2969358681","https://openalex.org/W2112559358","https://openalex.org/W2107122120","https://openalex.org/W194970950","https://openalex.org/W2342009288"],"abstract_inverted_index":{"Bipedal":[0],"robotic":[1,205],"mechanisms":[2],"are":[3,21],"unstable":[4],"due":[5,37],"to":[6,38,77,118,200,220,244],"the":[7,13,16,39,74,83,88,120,125,129,132,135,142,149,161,194,209,214,246,249],"unilateral":[8],"contact":[9],"passive":[10],"joint":[11,163],"between":[12,82],"sole":[14],"and":[15,29,61,87,97,181,217,241],"ground.":[17],"Hierarchical":[18],"control":[19,50,64,71,105,143,159,175,180,186,221,251],"layers":[20],"crucial":[22],"for":[23,34,52,165],"creating":[24],"walking":[25],"patterns,":[26],"stabilizing":[27],"locomotion,":[28],"ensuring":[30],"correct":[31],"angular":[32],"trajectories":[33],"bipedal":[35,54,167,235],"joints":[36,206],"system\u2019s":[40],"various":[41],"degrees":[42],"of":[43,90,131,148,248],"freedom.":[44],"This":[45],"work":[46],"provides":[47],"a":[48,53,79,166],"hierarchical":[49],"scheme":[51],"robot":[55,236],"that":[56,193],"focuses":[57],"on":[58],"balance":[59],"(stabilization)":[60],"low-level":[62,158],"tracking":[63],"while":[65],"considering":[66],"flexible":[67,170],"joints.":[68,171],"The":[69,146,157,189],"stabilization":[70],"method":[72],"uses":[73],"Newton\u2013Euler":[75],"formulation":[76],"establish":[78],"mathematical":[80],"relationship":[81],"zero-moment":[84],"point":[85,191],"(ZMP)":[86],"center":[89],"mass":[91],"(COM),":[92],"resulting":[93],"in":[94,239],"highly":[95],"nonlinear":[96],"coupled":[98],"dynamic":[99],"equations.":[100],"Adaptive":[101],"approximation-based":[102],"feedback":[103],"linearization":[104],"(so-called":[106],"adaptive":[107,178,184],"computed":[108],"torque":[109],"control)":[110],"combined":[111],"with":[112,137,169,202],"an":[113],"anti-windup":[114],"compensator":[115],"is":[116,152,192,237],"designed":[117],"track":[119],"desired":[121,215],"COM":[122],"produced":[123],"by":[124,207],"high-level":[126],"command.":[127],"Along":[128],"length":[130],"support":[133],"sole,":[134],"ZMP":[136],"physical":[138],"restrictions":[139],"serves":[140],"as":[141,224],"input":[144],"signal.":[145],"viability":[147,247],"suggested":[150,250],"controller":[151],"established":[153],"using":[154,208],"Lyapunov\u2019s":[155],"theory.":[156],"tracks":[160],"intended":[162],"movements":[164],"mechanism":[168],"We":[172],"use":[173],"two":[174],"strategies:":[176],"position-based":[177],"approximation":[179,185],"cascaded":[182,195],"position-torque":[183],"(cascaded":[187],"PTAAC).":[188],"interesting":[190],"PTAAC":[196],"can":[197],"be":[198],"extended":[199],"deal":[201],"variable":[203],"impedance":[204,229],"required":[210],"velocity":[211,216],"concept,":[212],"including":[213],"terms":[218],"related":[219],"errors":[222,230],"such":[223],"position,":[225],"force,":[226],"torque,":[227],"or":[228],"if":[231],"needed.":[232],"A":[233],"6-link":[234],"used":[238],"simulation":[240],"validation":[242],"experiments":[243],"demonstrate":[245],"structure.":[252]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
