{"id":"https://openalex.org/W2097368845","doi":"https://doi.org/10.1109/ichr.2009.5379518","title":"Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots","display_name":"Switching feedback controllers based on the maximal CPI sets for stabilization of humanoid robots","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2097368845","doi":"https://doi.org/10.1109/ichr.2009.5379518","mag":"2097368845"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I114531698","display_name":"Tokyo Institute of Technology","ror":"https://ror.org/0112mx960","country_code":"JP","type":"education","lineage":["https://openalex.org/I114531698"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Department of Mechanical Science and Engineering, Tokyo TECH, 2-12-1 Oookayama, Megutro-ku, 152-8552, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Science and Engineering, Tokyo TECH, 2-12-1 Oookayama, Megutro-ku, 152-8552, Japan","institution_ids":["https://openalex.org/I114531698"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["[Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan]"],"affiliations":[{"raw_affiliation_string":"[Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan]","institution_ids":["https://openalex.org/I74801974"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.478,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":11,"citation_normalized_percentile":{"value":0.893208,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":null,"issue":null,"first_page":"549","last_page":"554"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9996,"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":0.9996,"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":0.9942,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9763,"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/robustness","display_name":"Robustness","score":0.82844085},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.6288849}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.9058111},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8357114},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.82844085},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7922133},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.62899446},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.6288849},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.58093375},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5614212},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33120447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27394015},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24096504},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23747182},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16596809},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1219942},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379518","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, justice, and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.69}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":14,"referenced_works":["https://openalex.org/W1909540243","https://openalex.org/W1939926247","https://openalex.org/W1990060767","https://openalex.org/W1991310865","https://openalex.org/W1996511732","https://openalex.org/W2021563297","https://openalex.org/W2024714232","https://openalex.org/W2036484113","https://openalex.org/W2065326178","https://openalex.org/W2105934661","https://openalex.org/W2127580532","https://openalex.org/W2137300190","https://openalex.org/W2158239736","https://openalex.org/W2543728393"],"related_works":["https://openalex.org/W82657294","https://openalex.org/W371556439","https://openalex.org/W2922048491","https://openalex.org/W2797966250","https://openalex.org/W2745063183","https://openalex.org/W2322896430","https://openalex.org/W2255630662","https://openalex.org/W2047733616","https://openalex.org/W2004085743","https://openalex.org/W1859914877"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"should":[2],"be":[3],"able":[4],"to":[5,22,30,59,77,88],"stand":[6],"and":[7,103],"walk":[8],"despite":[9],"reasonable":[10],"external":[11,89],"disturbances.":[12,24,90],"This":[13],"paper":[14],"addresses":[15],"the":[16,32,36,45,53,56,61,66,71,94],"robustness":[17,87],"of":[18,93,101],"a":[19,78],"humanoid":[20],"robot":[21],"unknown":[23],"Although":[25],"there":[26],"are":[27],"control":[28,57,73],"methods":[29],"absorb":[31],"disturbances":[33],"based":[34],"on":[35,48],"COG-ZMP":[37,79],"inverted":[38,80],"pendulum":[39,81],"model,":[40,82],"they":[41],"do":[42],"not":[43],"consider":[44,60],"physical":[46,62],"constraint":[47,63],"ZMP.":[49],"In":[50],"this":[51],"paper,":[52],"authors":[54],"enable":[55],"law":[58],"explicitly":[64],"with":[65,99],"maximal":[67],"CPI":[68],"set.":[69],"Furthermore,":[70],"switching":[72],"framework":[74],"is":[75,97],"applied":[76],"allowing":[83],"for":[84],"an":[85],"improved":[86],"The":[91],"validity":[92],"proposed":[95],"method":[96],"verified":[98],"both":[100],"simulation":[102],"experiment.":[104]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2097368845","counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2024-12-07T20:56:35.658396","created_date":"2016-06-24"}