{"id":"https://openalex.org/W3034515341","doi":"https://doi.org/10.1177/0142331220911827","title":"Feedforward control for underactuated bipedal walking on compliant continuous steps with varying height","display_name":"Feedforward control for underactuated bipedal walking on compliant continuous steps with varying height","publication_year":2020,"publication_date":"2020-06-08","ids":{"openalex":"https://openalex.org/W3034515341","doi":"https://doi.org/10.1177/0142331220911827","mag":"3034515341"},"language":"en","primary_location":{"id":"doi:10.1177/0142331220911827","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331220911827","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","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/A5001174775","display_name":"Daojin Yao","orcid":"https://orcid.org/0000-0003-1132-7044"},"institutions":[{"id":"https://openalex.org/I13985625","display_name":"East China Jiaotong University","ror":"https://ror.org/05x2f1m38","country_code":"CN","type":"education","lineage":["https://openalex.org/I13985625"]},{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daojin Yao","raw_affiliation_strings":["Department of Electrical and Automation Engineering, East China Jiaotong University, China","Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China"],"raw_orcid":"https://orcid.org/0000-0003-1132-7044","affiliations":[{"raw_affiliation_string":"Department of Electrical and Automation Engineering, East China Jiaotong University, China","institution_ids":["https://openalex.org/I13985625"]},{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036957700","display_name":"Yao Wu","orcid":"https://orcid.org/0000-0001-6104-6916"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Wu","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","School of Power and Mechanical Engineering, Wuhan University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101496526","display_name":"Jie He","orcid":"https://orcid.org/0000-0003-4980-7801"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie He","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","School of Power and Mechanical Engineering, Wuhan University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018208285","display_name":"Jiangchen Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiangchen Zhou","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","School of Power and Mechanical Engineering, Wuhan University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":null,"display_name":"Xiaohui Xiao","orcid":"https://orcid.org/0000-0003-2398-8819"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaohui Xiao","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","School of Power and Mechanical Engineering, Wuhan University, China"],"raw_orcid":"https://orcid.org/0000-0003-2398-8819","affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]},{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, China","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.0737,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.33131121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"42","issue":"13","first_page":"2410","last_page":"2422"},"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":0.9984999895095825,"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/T12249","display_name":"Veterinary Orthopedics and Neurology","score":0.993399977684021,"subfield":{"id":"https://openalex.org/subfields/3404","display_name":"Small Animals"},"field":{"id":"https://openalex.org/fields/34","display_name":"Veterinary"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8130083084106445},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.7400233745574951},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6960254907608032},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5870019793510437},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4984903335571289},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4807319641113281},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4432123005390167},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.41455093026161194},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4128607213497162},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3570566177368164},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33407264947891235},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.2734586298465729},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.1911098062992096},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15332555770874023},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11754322052001953},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0853976309299469}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8130083084106445},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.7400233745574951},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6960254907608032},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5870019793510437},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4984903335571289},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4807319641113281},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4432123005390167},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.41455093026161194},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4128607213497162},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3570566177368164},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33407264947891235},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.2734586298465729},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.1911098062992096},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15332555770874023},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11754322052001953},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0853976309299469},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0142331220911827","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0142331220911827","pdf_url":null,"source":{"id":"https://openalex.org/S24148485","display_name":"Transactions of the Institute of Measurement and Control","issn_l":"0142-3312","issn":["0142-3312","1477-0369"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Transactions of the Institute of Measurement and Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1404712049","display_name":null,"funder_award_id":"51675385","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"},{"id":"https://openalex.org/F4320325626","display_name":"Education Department of Jiangxi Province","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1978347628","https://openalex.org/W1978599690","https://openalex.org/W1993314711","https://openalex.org/W2026549918","https://openalex.org/W2047174209","https://openalex.org/W2086979750","https://openalex.org/W2157144668","https://openalex.org/W2158457615","https://openalex.org/W2171809877","https://openalex.org/W2197422560","https://openalex.org/W2296486747","https://openalex.org/W2515647406","https://openalex.org/W2587305830","https://openalex.org/W2610901891","https://openalex.org/W2744618969","https://openalex.org/W2755130509","https://openalex.org/W2780636345","https://openalex.org/W2798257756","https://openalex.org/W2885642537","https://openalex.org/W2908669444","https://openalex.org/W2912237277","https://openalex.org/W2964185336","https://openalex.org/W2982341362","https://openalex.org/W2989680800","https://openalex.org/W4232078476","https://openalex.org/W4235644354"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2091722276","https://openalex.org/W1996600666","https://openalex.org/W3014395858"],"abstract_inverted_index":{"This":[0],"study":[1],"develops":[2],"a":[3,16,29,37,48,73,99,133,145,164,178,194,226],"feedforward":[4,74],"control":[5,75,116],"strategy":[6,76],"based":[7,64,77],"on":[8,24,65,78,182,219],"the":[9,66,79,140,155,158,172,207,212],"motion":[10,80],"state":[11,81],"of":[12,15,53,69,82,127,142,169,198,215],"center-of-mass":[13],"(CoM)":[14],"robot":[17,21,128,216],"for":[18,106],"underactuated":[19],"biped":[20],"stable":[22],"walking":[23,115,147,151,159],"compliant":[25,38],"continuous":[26],"steps":[27],"with":[28,166,193],"known":[30],"varying":[31,92,196,220],"height.":[32,112],"First,":[33],"considering":[34],"ground":[35],"deformation,":[36],"contact":[39],"model":[40,52],"is":[41,84,89,117,130,137,152,161,175,186],"employed":[42],"to":[43,91,110,225],"characterize":[44],"foot-ground":[45],"interaction,":[46],"and":[47,55,98,121,149,171],"robot\u2013step":[49],"coupling":[50],"dynamic":[51,229],"sagittal":[54,120],"lateral":[56,122],"planes":[57],"are":[58],"established":[59],"through":[60,139,177,188],"decoupling":[61],"modelling.":[62],"Second,":[63],"gait":[67],"characteristics":[68],"human":[70],"variable-step":[71],"walking,":[72],"CoM":[83,129,143,217],"proposed.":[85],"Varying":[86],"height":[87,197,221],"step":[88,101,108,195],"equivalent":[90,95],"slope,":[93],"an":[94,191],"slope":[96],"angle":[97],"desired":[100],"length":[102],"can":[103,210],"be":[104],"calculated":[105],"each":[107],"according":[109],"their":[111],"Underactuated":[113],"bipedal":[114],"decoupled":[118],"into":[119],"master-slave":[123],"control.":[124],"The":[125],"velocity":[126,218],"considered":[131],"as":[132,163,223],"system":[134,160],"output.":[135],"It":[136],"controlled":[138,173],"displacement":[141],"in":[144,190],"single":[146],"cycle,":[148],"thus":[150],"stabilized.":[153],"By":[154],"proposed":[156,208],"method,":[157],"modelled":[162],"polynomial":[165],"definite":[167],"number":[168],"degrees":[170],"input":[174],"derived":[176],"simple":[179],"inverse":[180],"operation":[181],"it.":[183],"Its":[184],"effectiveness":[185],"validated":[187],"simulations":[189],"environment":[192],"less":[199],"than":[200],"0.032":[201],"m.":[202],"Simulation":[203],"results":[204],"show":[205],"that":[206],"method":[209],"improve":[211],"tracking":[213],"performance":[214],"steps,":[222],"compared":[224],"hybrid":[227],"zero":[228],"(HZD)-based":[230],"controller.":[231]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}
