{"id":"https://openalex.org/W4293117630","doi":"https://doi.org/10.1109/robio54168.2021.9739606","title":"A novel hopping height controller with positive velocity feedback for hydraulic actuated legged robot","display_name":"A novel hopping height controller with positive velocity feedback for hydraulic actuated legged robot","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4293117630","doi":"https://doi.org/10.1109/robio54168.2021.9739606"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739606","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"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/A5034651148","display_name":"Yan Yuan","orcid":"https://orcid.org/0000-0002-5382-5482"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yan Yuan","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029512731","display_name":"Ce Li","orcid":"https://orcid.org/0000-0002-4627-6112"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ce Li","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013964496","display_name":"Bo Gu","orcid":"https://orcid.org/0000-0003-0556-2769"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Gu","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042786242","display_name":"Mengtang Li","orcid":"https://orcid.org/0000-0002-3594-4808"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengtang Li","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044194385","display_name":"Beichen Ding","orcid":"https://orcid.org/0000-0002-5771-1204"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Beichen Ding","raw_affiliation_strings":["Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107"],"affiliations":[{"raw_affiliation_string":"Shenzhen Campus of Sun Yat-sen University,Shenzhen,P.R. China,518107","institution_ids":["https://openalex.org/I157773358"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":57},"biblio":{"volume":null,"issue":null,"first_page":"1022","last_page":"1027"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9975,"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":"Biomechanics of Bipedal Locomotion in Robots and Animals","score":0.9975,"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 Technologies for Power Systems","score":0.9904,"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"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic Systems Control and Optimization","score":0.9903,"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/feed-forward","display_name":"Feed forward","score":0.58963096},{"id":"https://openalex.org/keywords/control-of-locomotion","display_name":"Control of Locomotion","score":0.532916},{"id":"https://openalex.org/keywords/describing-function","display_name":"Describing function","score":0.49945354}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.87112045},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.58963096},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5853146},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.54311085},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.534576},{"id":"https://openalex.org/C147317941","wikidata":"https://www.wikidata.org/wiki/Q1925419","display_name":"Describing function","level":3,"score":0.49945354},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.465765},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.42601377},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39449686},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34851283},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.26444775},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24237144},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22323298},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11286211},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07692528},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739606","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.44,"id":"https://metadata.un.org/sdg/7"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4248124207","https://openalex.org/W2173322520","https://openalex.org/W2168133372","https://openalex.org/W2162630464","https://openalex.org/W2089966216","https://openalex.org/W2085740305","https://openalex.org/W2083477739","https://openalex.org/W2025125204","https://openalex.org/W1599507083","https://openalex.org/W1542264074"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,29,35,61,140],"novel":[4],"hopping":[5,46,100,148],"height":[6],"controller":[7,25,89],"for":[8,98],"legged":[9,115],"robot":[10,116,145],"that":[11,135],"significantly":[12],"reduces":[13],"the":[14,21,42,45,57,67,79,88,92,126,130,136,144,147],"number":[15],"of":[16,28,40,66,143],"measured":[17],"variables":[18],"without":[19],"detecting":[20],"ground":[22],"contact.":[23],"The":[24,96],"is":[26,53,70,82,84,108,122,133,151],"composed":[27],"positive":[30],"velocity":[31,50],"feedback":[32],"loop":[33,52,63],"and":[34],"nonlinear":[36,120],"parameter,":[37],"e.g.":[38],"saturation,":[39],"which":[41],"limit":[43,81],"dictates":[44],"height.":[47],"A":[48,72,118],"command":[49],"feedforward":[51],"used":[54,85],"to":[55,86,124],"improve":[56],"system":[58,73],"response,":[59],"plus":[60],"closed":[62],"position":[64],"control":[65,149],"leg":[68],"actuator":[69],"added.":[71],"model":[74,121],"where":[75],"all":[76],"aspects":[77],"but":[78],"saturation":[80],"linearized":[83],"analyze":[87],"performance":[90],"via":[91,111],"describing":[93],"function":[94],"technique.":[95],"conditions":[97],"self-excited":[99],"are":[101],"theoretically":[102],"derived":[103],"as":[104,106],"well":[105],"it":[107],"successfully":[109],"demonstrated":[110],"simulation":[112],"using":[113],"SYSU-HOPPER":[114],"model.":[117],"detailed":[119],"developed":[123],"explain":[125],"main":[127],"findings":[128],"from":[129],"simulation.":[131],"It":[132],"found":[134],"oil":[137],"compressibility":[138],"causes":[139],"sustained":[141],"oscillation":[142],"when":[146],"signal":[150],"zero.":[152]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4293117630","counts_by_year":[],"updated_date":"2024-11-27T15:05:43.339648","created_date":"2022-08-26"}