{"id":"https://openalex.org/W2982032062","doi":"https://doi.org/10.3390/robotics8040089","title":"Estimation and Closed-Loop Control of COG/ZMP in Biped Devices Blending CoP Measures and Kinematic Information","display_name":"Estimation and Closed-Loop Control of COG/ZMP in Biped Devices Blending CoP Measures and Kinematic Information","publication_year":2019,"publication_date":"2019-10-22","ids":{"openalex":"https://openalex.org/W2982032062","doi":"https://doi.org/10.3390/robotics8040089","mag":"2982032062"},"language":"en","primary_location":{"id":"doi:10.3390/robotics8040089","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040089","pdf_url":"https://www.mdpi.com/2218-6581/8/4/89/pdf?version=1572398753","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/8/4/89/pdf?version=1572398753","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019678916","display_name":"Giuseppe Menga","orcid":"https://orcid.org/0000-0003-0735-0858"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Menga","raw_affiliation_strings":["Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Control and Computer Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037663155","display_name":"Marco Ghirardi","orcid":"https://orcid.org/0000-0002-4222-8375"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ghirardi","raw_affiliation_strings":["Department of Management and Production Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4222-8375","affiliations":[{"raw_affiliation_string":"Department of Management and Production Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5019678916"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.247,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.49538915,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"8","issue":"4","first_page":"89","last_page":"89"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991000294685364,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973000288009644,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9944999814033508,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8643651008605957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7385662794113159},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.677754819393158},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.5772007703781128},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5494425296783447},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4923187494277954},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.46944284439086914},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.46534550189971924},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.46063482761383057},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4528941512107849},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.44369930028915405},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.44275766611099243},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.43806201219558716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3601949214935303},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29209497570991516},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23768410086631775},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.22724053263664246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2230868637561798},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.21612319350242615},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.14387094974517822},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10596799850463867}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8643651008605957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7385662794113159},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.677754819393158},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.5772007703781128},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5494425296783447},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4923187494277954},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.46944284439086914},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.46534550189971924},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.46063482761383057},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4528941512107849},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.44369930028915405},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.44275766611099243},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.43806201219558716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3601949214935303},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29209497570991516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23768410086631775},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.22724053263664246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2230868637561798},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.21612319350242615},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.14387094974517822},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10596799850463867},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics8040089","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040089","pdf_url":"https://www.mdpi.com/2218-6581/8/4/89/pdf?version=1572398753","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:6ef0bb3965bd4d469e2dc808f94f95dd","is_oa":true,"landing_page_url":"https://doaj.org/article/6ef0bb3965bd4d469e2dc808f94f95dd","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 8, Iss 4, p 89 (2019)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/8/4/89/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/robotics8040089","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics8040089","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics8040089","pdf_url":"https://www.mdpi.com/2218-6581/8/4/89/pdf?version=1572398753","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321873","display_name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","ror":"https://ror.org/0166hxq48"},{"id":"https://openalex.org/F4320326081","display_name":"Regione Piemonte","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2982032062.pdf","grobid_xml":"https://content.openalex.org/works/W2982032062.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W151150931","https://openalex.org/W1967365365","https://openalex.org/W1987580649","https://openalex.org/W2087070363","https://openalex.org/W2133859362","https://openalex.org/W2139241871","https://openalex.org/W2168337660","https://openalex.org/W2256578114","https://openalex.org/W2303539570","https://openalex.org/W2304160655","https://openalex.org/W2306343251","https://openalex.org/W2734585497","https://openalex.org/W2807543877","https://openalex.org/W2982259140","https://openalex.org/W4235735043","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W1988603010","https://openalex.org/W2738467573","https://openalex.org/W2391870508","https://openalex.org/W2057462511","https://openalex.org/W2140699235","https://openalex.org/W2347891341","https://openalex.org/W2064977698","https://openalex.org/W2330129135","https://openalex.org/W2729563934","https://openalex.org/W2982032062"],"abstract_inverted_index":{"The":[0,179],"zero":[1],"moment":[2],"point":[3],"(":[4,25,99,281],"Z":[5,17,69,87,168,234],"M":[6,18,70,88,169,235],"P":[7,19,71,89,102,170,201,236],")":[8,29,103,286],"and":[9,45,68,132,154,171,202,233,254],"the":[10,16,21,35,38,56,59,64,86,95,106,109,124,127,130,133,140,143,146,155,160,163,167,176,219,262,270,273,288,293],"linearized":[11,177,220],"inverted":[12,221],"pendulum":[13,222],"model":[14,217,244],"linking":[15,287],"to":[20,185,210,292],"center":[22,96],"of":[23,37,42,63,97,129,139,142,149,159,181,194,218,229,240,249,275],"gravity":[24],"C":[26,65,100,110,172,199,230,263,285,289],"O":[27,66,111,173,231,264,290],"G":[28,67,112,174,232,265,291],"have":[30],"an":[31,224],"important":[32],"role":[33],"in":[34,175],"control":[36,197],"postural":[39],"equilibrium":[40],"(balance)":[41],"biped":[43],"robots":[44],"lower-limb":[46],"exoskeletons.":[47],"A":[48],"solution":[49],"for":[50,223,252],"balance":[51,196,255],"real":[52],"time":[53],"control,":[54,256],"closing":[55],"loop":[57],"from":[58,94,123,188,269],"joint":[60,294],"actual":[61,90],"values":[62],",":[72,237],"has":[73],"been":[74],"proposed":[75],"by":[76],"Choi.":[77],"However,":[78],"this":[79,182,212],"approach":[80],"cannot":[81],"be":[82,120],"practically":[83],"implemented:":[84],"While":[85],"value":[91],"is":[92,113,184,245,267,296],"available":[93],"pressure":[98],"o":[101,200],"measured":[104],"under":[105],"feet":[107],"soles,":[108],"not":[114,227],"measurable,":[115],"but":[116,238],"it":[117],"can":[118],"only":[119,228],"indirectly":[121],"assessed":[122],"joint-angle":[125,203,271],"measures,":[126,204,272],"knowledge":[128],"kinematics,":[131],"usually":[134],"poorly":[135],"known":[136],"weight":[137],"distribution":[138],"links":[141],"chain.":[144],"Finally,":[145],"possible":[147,206],"presence":[148],"unknown":[150],"external":[151,241],"disturbance":[152],"forces":[153],"nonlinear,":[156],"complex":[157],"nature":[158],"kinematics":[161],"perturb":[162],"simple":[164],"relationship":[165],"between":[166],"model.":[178],"aim":[180],"paper":[183],"offer,":[186],"starting":[187],"Choi\u2019s":[189,250],"model,":[190],"a":[191,216,276],"practical":[192],"implementation":[193],"closed-loop":[195],"fusing":[198],"eliminating":[205],"inconsistencies.":[207],"In":[208],"order":[209],"achieve":[211],"result,":[213],"we":[214],"introduce":[215],"extended":[225],"estimation,":[226],"also":[239,297],"disturbances.":[242],"This":[243],"then":[246],"used,":[247],"instead":[248],"equations,":[251],"estimation":[253],"using":[257],"H":[258],"\u221e":[259],"theory.":[260],"As":[261],"information":[266],"recovered":[268],"identification":[274],"statistically":[277],"equivalent":[278],"serial":[279],"chain":[280],"S":[282,284],"E":[283],"angles":[295],"discussed.":[298]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2019-11-01T00:00:00"}