{"id":"https://openalex.org/W2889782718","doi":"https://doi.org/10.2316/journal.206.2018.5.206-5137","title":"EXPERIMENTAL VALIDATION OF A CONTROL METHOD FOR UNDERACTUATED BIPEDAL WALKING ON COMPLIANT GROUND","display_name":"EXPERIMENTAL VALIDATION OF A CONTROL METHOD FOR UNDERACTUATED BIPEDAL WALKING ON COMPLIANT GROUND","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W2889782718","doi":"https://doi.org/10.2316/journal.206.2018.5.206-5137","mag":"2889782718"},"language":"en","primary_location":{"id":"doi:10.2316/journal.206.2018.5.206-5137","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2018.5.206-5137","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=45832","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"http://actapress.com/pdfviewer.aspx?paperID=45832","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/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":["School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, 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":["School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101657244","display_name":"Yang Wang","orcid":"https://orcid.org/0000-0002-8333-0843"},"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":"Yang Wang","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101658729","display_name":"Xiaohui Xiao","orcid":"https://orcid.org/0000-0002-8212-2452"},"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":"Xiaohui Xiao","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan Uni-versity, Wuhan 430072, China;","institution_ids":["https://openalex.org/I37461747"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.2164,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51886407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"33","issue":"5","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9940999746322632,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.8926482200622559},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6293132901191711},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5395047664642334},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5302379131317139},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.49732139706611633},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.48969414830207825},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4700276553630829},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3361775875091553},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.330086886882782},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27233874797821045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18777793645858765},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15572398900985718},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12061217427253723}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8926482200622559},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6293132901191711},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5395047664642334},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5302379131317139},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.49732139706611633},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.48969414830207825},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4700276553630829},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3361775875091553},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.330086886882782},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27233874797821045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18777793645858765},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15572398900985718},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12061217427253723},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.2316/journal.206.2018.5.206-5137","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2018.5.206-5137","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=45832","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.2316/journal.206.2018.5.206-5137","is_oa":true,"landing_page_url":"https://doi.org/10.2316/journal.206.2018.5.206-5137","pdf_url":"http://actapress.com/pdfviewer.aspx?paperID=45832","source":{"id":"https://openalex.org/S74998426","display_name":"International Journal of Robotics and Automation","issn_l":"0826-8185","issn":["0826-8185","1925-7090"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Robotics and Automation","raw_type":"journal-article"},"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"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2889782718.pdf","grobid_xml":"https://content.openalex.org/works/W2889782718.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W1993314711","https://openalex.org/W2022320195","https://openalex.org/W2029058516","https://openalex.org/W2030515455","https://openalex.org/W2055149370","https://openalex.org/W2072286288","https://openalex.org/W2079407617","https://openalex.org/W2092444611","https://openalex.org/W2137165373","https://openalex.org/W2145788561","https://openalex.org/W2155672216","https://openalex.org/W2197422560","https://openalex.org/W2545389838","https://openalex.org/W2587305830"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W4253098096","https://openalex.org/W2042776672","https://openalex.org/W2130288220","https://openalex.org/W1973997235","https://openalex.org/W2952578757","https://openalex.org/W1982482810"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3],"experimental":[4],"validation":[5],"of":[6,27],"an":[7],"adaptive":[8],"feed-forward":[9],"control":[10],"(AFC)":[11],"method":[12],"for":[13],"underactuated":[14],"bipedal":[15],"walkingon":[16],"compliant":[17],"ground":[18],"using":[19],"UBbot,":[20],"a":[21],"four-link":[22],"planar":[23],"robot":[24],"proto-type":[25],"composed":[26],"two":[28],"legs":[29],"with":[30],"knees":[31],"and":[32],"unactuated":[33],"point":[34],"feet.":[35]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}