{"id":"https://openalex.org/W3045797187","doi":"https://doi.org/10.23919/acc45564.2020.9147448","title":"Performance satisfaction in Midget, a thruster-assisted bipedal robot","display_name":"Performance satisfaction in Midget, a thruster-assisted bipedal robot","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3045797187","doi":"https://doi.org/10.23919/acc45564.2020.9147448","mag":"3045797187"},"language":"en","primary_location":{"id":"doi:10.23919/acc45564.2020.9147448","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5091015749","display_name":"Pravin Dangol","orcid":null},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pravin Dangol","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101945710","display_name":"Alireza Ramezani","orcid":"https://orcid.org/0000-0002-3391-5288"},"institutions":[{"id":"https://openalex.org/I12912129","display_name":"Northeastern University","ror":"https://ror.org/04t5xt781","country_code":"US","type":"education","lineage":["https://openalex.org/I12912129"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alireza Ramezani","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Northeastern University, Boston, MA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Northeastern University, Boston, MA","institution_ids":["https://openalex.org/I12912129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070017039","display_name":"Nader Jalili","orcid":"https://orcid.org/0000-0002-0868-801X"},"institutions":[{"id":"https://openalex.org/I17301866","display_name":"University of Alabama","ror":"https://ror.org/03xrrjk67","country_code":"US","type":"education","lineage":["https://openalex.org/I17301866"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nader Jalili","raw_affiliation_strings":["Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Alabama, Tuscaloosa, AL","institution_ids":["https://openalex.org/I17301866"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.4125,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96817328,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3217","last_page":"3223"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9930999875068665,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.651982843875885},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.6334075927734375},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.5480759143829346},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5346701741218567},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49910831451416016},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.42210468649864197},{"id":"https://openalex.org/keywords/envelope","display_name":"Envelope (radar)","score":0.4186941385269165},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36311742663383484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3145257234573364},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2326734960079193},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13874322175979614}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.651982843875885},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.6334075927734375},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.5480759143829346},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346701741218567},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49910831451416016},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.42210468649864197},{"id":"https://openalex.org/C65155139","wikidata":"https://www.wikidata.org/wiki/Q5380912","display_name":"Envelope (radar)","level":3,"score":0.4186941385269165},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36311742663383484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3145257234573364},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2326734960079193},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13874322175979614},{"id":"https://openalex.org/C554190296","wikidata":"https://www.wikidata.org/wiki/Q47528","display_name":"Radar","level":2,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/acc45564.2020.9147448","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc45564.2020.9147448","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1515982654","https://openalex.org/W1632977575","https://openalex.org/W1972013173","https://openalex.org/W1975230295","https://openalex.org/W1981690142","https://openalex.org/W1986164962","https://openalex.org/W1990705672","https://openalex.org/W2018860673","https://openalex.org/W2023126268","https://openalex.org/W2049080811","https://openalex.org/W2061063863","https://openalex.org/W2085746528","https://openalex.org/W2111966261","https://openalex.org/W2123402064","https://openalex.org/W2128131727","https://openalex.org/W2136605942","https://openalex.org/W2137547873","https://openalex.org/W2140795564","https://openalex.org/W2151301943","https://openalex.org/W2157088971","https://openalex.org/W2291537719","https://openalex.org/W2531422151","https://openalex.org/W2540708670","https://openalex.org/W2569324215"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W1982482810","https://openalex.org/W4253098096","https://openalex.org/W2042776672","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W1973997235"],"abstract_inverted_index":{"We":[0,16],"will":[1,17,24,42,70,102],"report":[2],"our":[3,108],"efforts":[4],"in":[5,74,107],"designing":[6],"feedback":[7],"for":[8,19],"the":[9,28,34,49,65,88,98,104,111],"thruster-assisted":[10],"walking":[11],"of":[12,52,92],"a":[13,75,83,93],"bipedal":[14],"robot.":[15],"assume":[18],"well-tuned":[20],"supervisory":[21],"controllers":[22],"and":[23,58],"focus":[25],"on":[26,48],"fine-tuning":[27],"desired":[29,66],"joint":[30],"trajectories":[31],"to":[32,62],"satisfy":[33],"performance":[35],"being":[36],"sought.":[37],"In":[38],"doing":[39],"this,":[40],"we":[41,69,101],"devise":[43],"an":[44],"intermediary":[45],"filter":[46],"based":[47],"emerging":[50],"idea":[51],"reference":[53],"governors.":[54],"Since":[55],"these":[56],"modifications":[57],"impact":[59],"events":[60],"lead":[61],"deviations":[63],"from":[64],"periodic":[67],"orbits,":[68],"guarantee":[71],"hybrid":[72,99],"invariance":[73],"robust":[76],"fashion":[77],"by":[78],"applying":[79],"predictive":[80],"schemes":[81],"within":[82],"short":[84],"time":[85],"envelope":[86],"during":[87],"double":[89],"support":[90],"phase":[91],"gait":[94],"cycle.":[95],"To":[96],"achieve":[97],"invariance,":[100],"leverage":[103],"unique":[105],"features":[106],"robot,":[109],"i.e.,":[110],"thruster.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":9}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}