{"id":"https://openalex.org/W1984689183","doi":"https://doi.org/10.1109/tsmc.2013.2242887","title":"A UKF-Based Predictable SVR Learning Controller for Biped Walking","display_name":"A UKF-Based Predictable SVR Learning Controller for Biped Walking","publication_year":2013,"publication_date":"2013-10-15","ids":{"openalex":"https://openalex.org/W1984689183","doi":"https://doi.org/10.1109/tsmc.2013.2242887","mag":"1984689183"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2013.2242887","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"journal-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/A5100749347","display_name":"Liyang Wang","orcid":"https://orcid.org/0000-0003-4698-1900"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"funder","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liyang Wang","raw_affiliation_strings":["Department of Automation Guangdong University of Technology Guangzhou China"],"affiliations":[{"raw_affiliation_string":"Department of Automation Guangdong University of Technology Guangzhou China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100733163","display_name":"Zhi Liu","orcid":"https://orcid.org/0000-0001-6300-578X"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"funder","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi Liu","raw_affiliation_strings":["Department of Automation Guangdong University of Technology Guangzhou China"],"affiliations":[{"raw_affiliation_string":"Department of Automation Guangdong University of Technology Guangzhou China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100643265","display_name":"C. L. Philip Chen","orcid":"https://orcid.org/0000-0001-5451-7230"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"funder","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"C. L. Philip Chen","raw_affiliation_strings":["[Fac. of Sci. & Technol., Univ. of Macau, Macau, China]"],"affiliations":[{"raw_affiliation_string":"[Fac. of Sci. & Technol., Univ. of Macau, Macau, China]","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356824","display_name":"Yun Zhang","orcid":"https://orcid.org/0000-0002-8085-3454"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"funder","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Zhang","raw_affiliation_strings":["Department of Automation Guangdong University of Technology Guangzhou China"],"affiliations":[{"raw_affiliation_string":"Department of Automation Guangdong University of Technology Guangzhou China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103020232","display_name":"Sukhan Lee","orcid":"https://orcid.org/0000-0002-1281-6889"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"funder","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sukhan Lee","raw_affiliation_strings":["School of Information and Communication, Sungkyunkwan University, Suwon, South Korea#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication, Sungkyunkwan University, Suwon, South Korea#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100363117","display_name":"Xin Chen","orcid":"https://orcid.org/0000-0003-1990-2058"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"funder","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Chen","raw_affiliation_strings":["Dept. of Mechatron. Eng., Guangdong Univ. of Technol., Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechatron. Eng., Guangdong Univ. of Technol., Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institution_assertions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.514,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":31,"citation_normalized_percentile":{"value":0.812919,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":94},"biblio":{"volume":"43","issue":"6","first_page":"1440","last_page":"1450"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"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":0.9999,"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":0.9963,"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":0.9874,"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/zero-moment-point","display_name":"Zero moment point","score":0.8440143},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.44477108}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.8440143},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.7628646},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.76160467},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.64736205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6395338},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.63782465},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4991858},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4777312},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.44477108},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.38158903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3632462},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35016465},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24526858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15868828},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.15587121},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12759995},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.117619425},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2013.2242887","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":42,"referenced_works":["https://openalex.org/W2010635244","https://openalex.org/W2027139066","https://openalex.org/W2029058516","https://openalex.org/W2051620263","https://openalex.org/W2054091988","https://openalex.org/W2055452973","https://openalex.org/W2056679719","https://openalex.org/W2062968427","https://openalex.org/W2063086479","https://openalex.org/W2067107847","https://openalex.org/W2071559652","https://openalex.org/W2080475666","https://openalex.org/W2097568396","https://openalex.org/W2097693392","https://openalex.org/W2100751797","https://openalex.org/W2102162941","https://openalex.org/W2102568724","https://openalex.org/W2109616287","https://openalex.org/W2113116432","https://openalex.org/W2114414717","https://openalex.org/W2115167527","https://openalex.org/W2118495694","https://openalex.org/W2123487311","https://openalex.org/W2127763473","https://openalex.org/W2131072478","https://openalex.org/W2131232094","https://openalex.org/W2136640905","https://openalex.org/W2136818300","https://openalex.org/W2143272441","https://openalex.org/W2144903371","https://openalex.org/W2149244757","https://openalex.org/W2152475319","https://openalex.org/W2156321584","https://openalex.org/W2161033177","https://openalex.org/W2162341771","https://openalex.org/W2162689750","https://openalex.org/W2163584947","https://openalex.org/W2163668399","https://openalex.org/W2166417161","https://openalex.org/W2172124949","https://openalex.org/W2544610831","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W781058189","https://openalex.org/W2744891159","https://openalex.org/W2560160706","https://openalex.org/W2363225614","https://openalex.org/W2358580561","https://openalex.org/W2331913571","https://openalex.org/W2317947966","https://openalex.org/W2253287589","https://openalex.org/W2150864167","https://openalex.org/W2090655727"],"abstract_inverted_index":{"An":[0],"unscented":[1],"Kalman":[2],"filter":[3],"(UKF)-based":[4],"predictable":[5],"support":[6],"vector":[7],"regression":[8],"(SVR)":[9],"learning":[10,36,60],"controller":[11,37,61],"is":[12,43,88,95],"proposed":[13,92,115],"to":[14,45,73,75],"improve":[15],"the":[16,24,28,39,47,54,58,65,68,76,80,91,99,111,114],"flexibility":[17,84],"of":[18,27,67,79,85,113],"biped":[19,25,41,56,86,101],"walking":[20,102],"robots.":[21],"After":[22],"estimating":[23],"states":[26,42],"next":[29],"moment":[30,49],"using":[31],"a":[32],"UKF,":[33],"an":[34],"SVR":[35,59],"with":[38],"predicted":[40,55],"implemented":[44],"ensure":[46],"zero":[48],"point":[50],"(ZMP)":[51],"stability.":[52],"Using":[53],"states,":[57],"can":[62],"predictably":[63],"adjust":[64],"posture":[66,78],"trunk":[69],"timely":[70],"and":[71,107],"properly":[72],"adapt":[74],"dynamic":[77],"whole":[81],"body.":[82],"The":[83],"robots":[87],"enhanced":[89],"by":[90],"method,":[93],"which":[94],"promising":[96],"for":[97],"realizing":[98],"stable":[100],"in":[103],"unstructured":[104],"environments.":[105],"Simulation":[106],"experimental":[108],"results":[109],"demonstrate":[110],"superiority":[112],"methods.":[116]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1984689183","counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2025-03-21T16:16:27.820851","created_date":"2016-06-24"}