{"id":"https://openalex.org/W2604979775","doi":"https://doi.org/10.1177/0959651817692484","title":"Online adaptation for humanoids walking on uncertain surfaces","display_name":"Online adaptation for humanoids walking on uncertain surfaces","publication_year":2017,"publication_date":"2017-02-01","ids":{"openalex":"https://openalex.org/W2604979775","doi":"https://doi.org/10.1177/0959651817692484","mag":"2604979775"},"language":"en","primary_location":{"id":"doi:10.1177/0959651817692484","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817692484","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/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009324734","display_name":"S. Ali A. Moosavian","orcid":"https://orcid.org/0000-0002-9117-7615"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"S Ali A Moosavian","raw_affiliation_strings":["Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019618228","display_name":"Aghil Yousefi\u2010Koma","orcid":"https://orcid.org/0000-0002-0705-3338"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Aghil Yousefi-Koma","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034879516","display_name":"Hessam Maleki","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Hessam Maleki","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5027170643","display_name":"Majid Sadedel","orcid":"https://orcid.org/0000-0002-0285-8460"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Sadedel","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5043216529"],"corresponding_institution_ids":["https://openalex.org/I80543232"],"apc_list":null,"apc_paid":null,"fwci":0.9184,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.72528384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"231","issue":"4","first_page":"245","last_page":"258"},"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":0.9894000291824341,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9351999759674072,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.8261491060256958},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6431069374084473},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.6369326710700989},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6141393184661865},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.600826621055603},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5346208214759827},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.5282325744628906},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5275240540504456},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5082151889801025},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.45798459649086},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4425433278083801},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4059599041938782},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2950424551963806},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2002331018447876},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19713395833969116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18525025248527527},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07752043008804321}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.8261491060256958},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6431069374084473},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.6369326710700989},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6141393184661865},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.600826621055603},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5346208214759827},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.5282325744628906},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5275240540504456},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5082151889801025},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.45798459649086},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4425433278083801},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4059599041938782},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2950424551963806},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2002331018447876},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19713395833969116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18525025248527527},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07752043008804321},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651817692484","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817692484","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":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322243","display_name":"Iran National Science Foundation","ror":"https://ror.org/03sr1ma14"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1844824113","https://openalex.org/W1967524332","https://openalex.org/W2037729465","https://openalex.org/W2062972966","https://openalex.org/W2073376065","https://openalex.org/W2082616311","https://openalex.org/W2089476757","https://openalex.org/W2107063340","https://openalex.org/W2149244757","https://openalex.org/W2151621026","https://openalex.org/W2153195058","https://openalex.org/W2161549849","https://openalex.org/W2171644720","https://openalex.org/W2220118182","https://openalex.org/W2539881804","https://openalex.org/W2555264931","https://openalex.org/W2991542025","https://openalex.org/W3196769885","https://openalex.org/W4205423437","https://openalex.org/W4235175628","https://openalex.org/W4240097911","https://openalex.org/W4242924194","https://openalex.org/W4250809838","https://openalex.org/W4255520207","https://openalex.org/W4255793954"],"related_works":["https://openalex.org/W2917225013","https://openalex.org/W845789065","https://openalex.org/W2039606477","https://openalex.org/W2361542615","https://openalex.org/W585312555","https://openalex.org/W2055370323","https://openalex.org/W2052447287","https://openalex.org/W2088250263","https://openalex.org/W4387103257","https://openalex.org/W2055092540"],"abstract_inverted_index":{"In":[0,83,120],"this":[1,124],"article,":[2],"an":[3],"online":[4,145],"adaptation":[5,77,146],"algorithm":[6,78,147],"for":[7],"bipedal":[8],"walking":[9,20,155,174],"on":[10,22,60,157,177,192],"uneven":[11],"surfaces":[12,61],"with":[13,62,180],"height":[14,63],"uncertainty":[15],"is":[16,98,103,126,148,175,188],"proposed.":[17],"To":[18,52],"generate":[19],"patterns":[21,156],"flat":[23,182],"terrains,":[24],"the":[25,28,35,49,57,65,69,84,88,95,101,106,108,111,121,129,136,143,154,158,185,193],"trajectories":[26,67,109],"in":[27,68,110,135],"task":[29,70,112],"space":[30,71,113],"are":[31,114],"planned":[32],"to":[33,44,116,190],"satisfy":[34],"dynamic":[36],"balance":[37],"and":[38,42,133,164,171],"slippage":[39],"avoidance":[40],"constraints":[41],"also":[43],"guarantee":[45,117],"smooth":[46,54,118],"landing":[47,55],"of":[48,56,80,142,153,168],"swing":[50,58,89,186],"foot.":[51],"ensure":[53],"foot":[59,90,187],"uncertainty,":[64],"preplanned":[66],"should":[72],"be":[73],"adapted.":[74],"The":[75,173],"proposed":[76,144],"consists":[79],"two":[81],"stages.":[82],"first":[85],"stage,":[86,123],"once":[87],"reaches":[91],"its":[92],"maximum":[93],"height,":[94],"supervisory":[96],"control":[97],"initiated":[99],"until":[100],"touch":[102],"detected.":[104],"After":[105],"detection,":[107],"modified":[115],"landing.":[119],"second":[122],"modification":[125],"preserved":[127],"during":[128],"double":[130],"support":[131,139],"phase":[132],"released":[134],"next":[137],"single":[138],"phase.":[140],"Effectiveness":[141],"experimentally":[149],"verified":[150],"through":[151],"realization":[152],"SURENA":[159],"III":[160],"humanoid":[161],"robot,":[162],"designed":[163],"fabricated":[165],"at":[166],"Center":[167],"Advanced":[169],"Systems":[170],"Technologies.":[172],"tested":[176],"a":[178],"surface":[179],"various":[181],"obstacles,":[183],"where":[184],"prone":[189],"land":[191],"ground":[194],"either":[195],"soon":[196],"or":[197],"late.":[198]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-05T06:06:40.768181","created_date":"2025-10-10T00:00:00"}