{"id":"https://openalex.org/W2117463721","doi":"https://doi.org/10.1177/0959651812445249","title":"Limit cycle walker push recovery based on a receding horizon control scheme","display_name":"Limit cycle walker push recovery based on a receding horizon control scheme","publication_year":2012,"publication_date":"2012-06-11","ids":{"openalex":"https://openalex.org/W2117463721","doi":"https://doi.org/10.1177/0959651812445249","mag":"2117463721"},"language":"en","primary_location":{"id":"doi:10.1177/0959651812445249","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651812445249","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5078847128","display_name":"Behnam Miripour Fard","orcid":"https://orcid.org/0000-0002-2791-6591"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Behnam Miripour Fard","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran","institution_ids":["https://openalex.org/I877176835"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021527200","display_name":"Ahmad Bagheri","orcid":"https://orcid.org/0000-0002-8685-6349"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Ahmad Bagheri","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran","institution_ids":["https://openalex.org/I877176835"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051687520","display_name":"N. Nariman-zadeh","orcid":"https://orcid.org/0000-0001-8096-8457"},"institutions":[{"id":"https://openalex.org/I877176835","display_name":"University of Guilan","ror":"https://ror.org/01bdr6121","country_code":"IR","type":"education","lineage":["https://openalex.org/I877176835"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Nader Nariman-Zadeh","raw_affiliation_strings":["Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of Guilan, Islamic Republic of Iran","institution_ids":["https://openalex.org/I877176835"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078847128"],"corresponding_institution_ids":["https://openalex.org/I877176835"],"apc_list":null,"apc_paid":null,"fwci":0.4034,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.65318317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"226","issue":"7","first_page":"914","last_page":"926"},"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":0.9882000088691711,"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":0.9750999808311462,"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/control-theory","display_name":"Control theory (sociology)","score":0.8608009815216064},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.6729519963264465},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6413958072662354},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6227335929870605},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.5715092420578003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.515498697757721},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4479481875896454},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4231342077255249},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31860417127609253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22890087962150574},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11281859874725342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09984472393989563}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8608009815216064},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.6729519963264465},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6413958072662354},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6227335929870605},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.5715092420578003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.515498697757721},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4479481875896454},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4231342077255249},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31860417127609253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22890087962150574},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11281859874725342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09984472393989563},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651812445249","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651812445249","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W100796336","https://openalex.org/W1492106702","https://openalex.org/W1504362584","https://openalex.org/W1509235676","https://openalex.org/W1608101987","https://openalex.org/W1965536751","https://openalex.org/W1980294542","https://openalex.org/W1995184774","https://openalex.org/W1995409582","https://openalex.org/W1995551113","https://openalex.org/W2000535285","https://openalex.org/W2022781970","https://openalex.org/W2028456985","https://openalex.org/W2029058516","https://openalex.org/W2031286625","https://openalex.org/W2037729465","https://openalex.org/W2047668791","https://openalex.org/W2047887376","https://openalex.org/W2049374002","https://openalex.org/W2073787051","https://openalex.org/W2085746528","https://openalex.org/W2100910774","https://openalex.org/W2110215557","https://openalex.org/W2111752117","https://openalex.org/W2116310395","https://openalex.org/W2119348011","https://openalex.org/W2119534895","https://openalex.org/W2135393140","https://openalex.org/W2137547873","https://openalex.org/W2142992961","https://openalex.org/W2147285788","https://openalex.org/W2152185829","https://openalex.org/W2155446094","https://openalex.org/W2158194084","https://openalex.org/W2163668399","https://openalex.org/W2164118615","https://openalex.org/W2169738905","https://openalex.org/W2330379820","https://openalex.org/W2480794012","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W3147526103","https://openalex.org/W4236953563","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W4388297534","https://openalex.org/W2051439117","https://openalex.org/W1673883441","https://openalex.org/W4298109871","https://openalex.org/W2313188567","https://openalex.org/W4248124207","https://openalex.org/W2083477739","https://openalex.org/W2087320822","https://openalex.org/W2089966216","https://openalex.org/W2017930464"],"abstract_inverted_index":{"The":[0,66,95,182],"capability":[1],"of":[2,16,81,98,105,113,119,124,128,187,192,204],"limit":[3,31,51],"cycle":[4,32,52],"walking":[5,168],"in":[6,18,102,190,198],"external":[7],"disturbance":[8],"rejection":[9],"is":[10,47,70,151],"still":[11],"a":[12,43,50,61,132,141],"relatively":[13],"unexplored":[14],"field":[15],"study":[17],"comparison":[19],"with":[20,78],"zero":[21],"moment":[22],"point":[23],"based":[24,59,139],"walking,":[25],"whereas":[26],"the":[27,103,109,117,120,129,155,160,180,185,188],"motions":[28],"achievable":[29],"by":[30],"walkers":[33],"are":[34,137],"highly":[35],"efficient":[36],"and":[37,158,194,200],"natural":[38],"looking.":[39],"In":[40],"this":[41],"paper,":[42],"balance":[44],"recovery":[45,100,191],"controller":[46,150],"implemented":[48,152],"for":[49,108,115],"walker":[53],"subjected":[54],"to":[55,153,163],"an":[56,73,88],"impulsive":[57,89],"push":[58,90,99],"on":[60,92,140],"receding":[62],"horizon":[63],"control":[64,159],"scheme.":[65],"biped":[67],"robot":[68],"model":[69],"considered":[71],"as":[72],"under-actuated":[74],"hybrid":[75],"planar":[76],"system":[77,130,162],"five":[79],"degrees":[80,112,123],"freedom":[82,125],"having":[83],"two":[84],"actuators,":[85],"which":[86,116],"experiences":[87],"event":[91],"its":[93,165],"torso.":[94],"main":[96],"idea":[97],"consists":[101],"choice":[104],"particular":[106],"trajectories":[107,136],"directly":[110],"controlled":[111,122],"freedom,":[114],"dynamics":[118],"indirectly":[121],"(un-actuated":[126],"coordinates)":[127],"tracks":[131],"desired":[133],"trajectory.":[134],"Particular":[135],"chosen":[138],"low":[142],"dimensional":[143],"online":[144],"constrained":[145],"optimization.":[146],"A":[147],"discrete-time":[148],"feedback":[149],"track":[154],"obtained":[156],"trajectory":[157],"whole":[161],"sustain":[164],"stable":[166],"cyclic":[167],"after":[169],"push.":[170],"Several":[171],"simulations":[172],"have":[173],"been":[174],"done":[175],"considering":[176],"disturbances":[177],"exerted":[178],"during":[179],"walking.":[181,205],"results":[183],"demonstrate":[184],"effectiveness":[186],"scheme":[189],"small":[193],"large":[195],"pushes":[196],"occurring":[197],"single":[199],"double":[201],"support":[202],"phases":[203]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
