{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,2]],"date-time":"2026-06-02T20:39:57Z","timestamp":1780432797983,"version":"3.54.1"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","issue":"7","license":[{"start":{"date-parts":[[2021,1,5]],"date-time":"2021-01-05T00:00:00Z","timestamp":1609804800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,1,5]],"date-time":"2021-01-05T00:00:00Z","timestamp":1609804800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Soft Comput"],"published-print":{"date-parts":[[2021,4]]},"DOI":"10.1007\/s00500-020-05515-1","type":"journal-article","created":{"date-parts":[[2021,1,5]],"date-time":"2021-01-05T11:14:51Z","timestamp":1609845291000},"page":"5131-5150","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":37,"title":["Optimization of stability of humanoid robot NAO using ant colony optimization tuned MPC controller for uneven path"],"prefix":"10.1007","volume":"25","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8805-0640","authenticated-orcid":false,"given":"Abhishek Kumar","family":"Kashyap","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dayal R.","family":"Parhi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,1,5]]},"reference":[{"key":"5515_CR1","doi-asserted-by":"publisher","first-page":"165","DOI":"10.1016\/j.cor.2016.04.007","volume":"74","author":"H Abedinnia","year":"2016","unstructured":"Abedinnia H, Glock CH, Brill A (2016) Computers & Operations Research New simple constructive heuristic algorithms for minimizing total flow-time in the permutation flowshop scheduling problem. Comput Oper Res 74:165\u2013174. https:\/\/doi.org\/10.1016\/j.cor.2016.04.007","journal-title":"Comput Oper Res"},{"key":"5515_CR2","doi-asserted-by":"publisher","first-page":"204","DOI":"10.1134\/S1064230706020043","volume":"45","author":"Y Aoustin","year":"2006","unstructured":"Aoustin Y, Formal\u2019sky A, Martynenko Y (2006) Stabilization of unstable equilibrium postures of a two-link pendulum using a flywheel. J Comput Syst Sci Int 45:204\u2013211. https:\/\/doi.org\/10.1134\/S1064230706020043","journal-title":"J Comput Syst Sci Int"},{"key":"5515_CR3","unstructured":"Blondin M-J, Sicard P (2013) ACO based controller and anti-windup tuning for motion systems with flexible transmission. In: 2013 26th IEEE Canadian conference on electrical and computer engineering (CCECE). IEEE, pp 1\u20134"},{"key":"5515_CR4","unstructured":"Blondin M-J, Sicard P (2014) A Hybrid ACO and Nelder-Mead constrained algorithm for controller and anti-windup tuning. In: 2014 16th European conference on power electronics and applications. IEEE, pp 1\u201310"},{"key":"5515_CR5","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2019\/1932812","volume":"2019","author":"G Chen","year":"2019","unstructured":"Chen G, Liu J (2019) Mobile robot path planning using ant colony algorithm and improved potential field method. Comput Intell Neurosci 2019:1\u201310. https:\/\/doi.org\/10.1155\/2019\/1932812","journal-title":"Comput Intell Neurosci"},{"key":"5515_CR6","doi-asserted-by":"publisher","first-page":"4243","DOI":"10.1007\/s00500-016-2291-y","volume":"20","author":"PB de Moura Oliveira","year":"2016","unstructured":"de Moura Oliveira PB, Freire H, Solteiro Pires EJ (2016) Grey wolf optimization for PID controller design with prescribed robustness margins. Soft Comput 20:4243\u20134255. https:\/\/doi.org\/10.1007\/s00500-016-2291-y","journal-title":"Soft Comput"},{"key":"5515_CR7","doi-asserted-by":"publisher","first-page":"1461","DOI":"10.4249\/scholarpedia.1461","volume":"2","author":"M Dorigo","year":"2007","unstructured":"Dorigo M (2007) Ant colony optimization. Scholarpedia 2:1461. https:\/\/doi.org\/10.4249\/scholarpedia.1461","journal-title":"Scholarpedia"},{"key":"5515_CR8","doi-asserted-by":"publisher","first-page":"29","DOI":"10.1109\/3477.484436","volume":"26","author":"M Dorigo","year":"1996","unstructured":"Dorigo M, Maniezzo V, Colorni A (1996) Ant system: optimization by a colony of cooperating agents. IEEE Trans Syst Man Cybern Part B Cybern 26:29\u201341. https:\/\/doi.org\/10.1109\/3477.484436","journal-title":"IEEE Trans Syst Man Cybern Part B Cybern"},{"key":"5515_CR9","doi-asserted-by":"crossref","unstructured":"Du L, Cao F (2015) Nonlinear controller design of the inverted pendulum system based on extended state observer. In: Proceedings of the 2015 international conference on automation, mechanical control and computational engineering. Atlantis Press, Paris, France, pp 1\u20136","DOI":"10.2991\/amcce-15.2015.38"},{"key":"5515_CR10","doi-asserted-by":"publisher","first-page":"3455","DOI":"10.1007\/s00500-019-04106-z","volume":"24","author":"EM El-Gendy","year":"2020","unstructured":"El-Gendy EM, Saafan MM, Elksas MS et al (2020) Applying hybrid genetic\u2013PSO technique for tuning an adaptive PID controller used in a chemical process. Soft Comput 24:3455\u20133474. https:\/\/doi.org\/10.1007\/s00500-019-04106-z","journal-title":"Soft Comput"},{"key":"5515_CR11","doi-asserted-by":"crossref","unstructured":"Faraji S, Pouya S, Atkeson CG, Ijspeert AJ (2014) Versatile and robust 3D walking with a simulated humanoid robot (Atlas): a model predictive control approach. In: 2014 IEEE international conference on robotics and automation (ICRA). IEEE, pp 1943\u20131950","DOI":"10.1109\/ICRA.2014.6907116"},{"key":"5515_CR12","doi-asserted-by":"crossref","unstructured":"Gonzalez R, Fiacchini M, Guzman JL, Alamo T (2009) Robust tube-based MPC for constrained mobile robots under slip conditions. In: Proceedings of the IEEE conference on decision and control. IEEE, pp 5985\u20135990","DOI":"10.1109\/CDC.2009.5400508"},{"key":"5515_CR13","doi-asserted-by":"crossref","unstructured":"Kamioka T, Kaneko H, Kuroda M, et al (2017) Dynamic gait transition between walking, running and hopping for push recovery. In: 2017 IEEE-RAS 17th international conference on humanoid robotics (humanoids). IEEE, pp 1\u20138","DOI":"10.1109\/HUMANOIDS.2017.8239530"},{"key":"5515_CR14","doi-asserted-by":"crossref","unstructured":"Kasaei SM, Lau N, Pereira A, Shahri E (2017a) A reliable model-based walking engine with push recovery capability. In: 2017 IEEE international conference on autonomous robot systems and competitions (ICARSC). IEEE, pp 122\u2013127","DOI":"10.1109\/ICARSC.2017.7964063"},{"key":"5515_CR15","doi-asserted-by":"crossref","unstructured":"Kasaei SM, Lau N, Perira A (2017b) A reliable hierarchical omnidirectional walking engine for a bipedal robot by using the enhanced LIP plus flywheel. In: Human-Centric Robotics. WORLD SCIENTIFIC, pp 399\u2013406","DOI":"10.1142\/9789813231047_0049"},{"key":"5515_CR16","doi-asserted-by":"publisher","unstructured":"Kashyap AK, Pandey A (2018) Different nature-inspired techniques applied for motion planning of wheeled robot: a critical review. Int J Adv Robot Autom 3:1\u201310. https:\/\/doi.org\/10.15226\/2473-3032\/3\/2\/00136","DOI":"10.15226\/2473-3032\/3\/2\/00136"},{"key":"5515_CR17","doi-asserted-by":"crossref","unstructured":"Kashyap AK, Pandey A, Chhotray A, Parhi DR (2020a) Controlled gait planning of humanoid robot NAO Based on 3D-LIPM Model. Available SSRN 3552498","DOI":"10.2139\/ssrn.3552498"},{"key":"5515_CR18","doi-asserted-by":"publisher","first-page":"2050014","DOI":"10.1142\/S0219843620500140","volume":"17","author":"AK Kashyap","year":"2020","unstructured":"Kashyap AK, Parhi DR, Kumar S (2020b) Dynamic stabilization of NAO humanoid robot based on whole-body control with simulated annealing. Int J Humanoid Robot 17:2050014. https:\/\/doi.org\/10.1142\/S0219843620500140","journal-title":"Int J Humanoid Robot"},{"key":"5515_CR19","doi-asserted-by":"publisher","first-page":"106581","DOI":"10.1016\/j.asoc.2020.106581","volume":"96","author":"AK Kashyap","year":"2020","unstructured":"Kashyap AK, Parhi DR, Muni MK, Pandey KK (2020c) A hybrid technique for path planning of humanoid robot NAO in static and dynamic terrains. Appl Soft Comput 96:106581. https:\/\/doi.org\/10.1016\/j.asoc.2020.106581","journal-title":"Appl Soft Comput"},{"key":"5515_CR20","unstructured":"Khatib O, Groen F (2014) Robotics research 13th international symposium"},{"key":"5515_CR21","doi-asserted-by":"publisher","first-page":"457","DOI":"10.1007\/s10846-006-9107-8","volume":"48","author":"JY Kim","year":"2007","unstructured":"Kim JY, Park IW, Oh JH (2007) Walking control algorithm of biped humanoid robot on uneven and inclined floor. J Intell Robot Syst Theory Appl 48:457\u2013484. https:\/\/doi.org\/10.1007\/s10846-006-9107-8","journal-title":"J Intell Robot Syst Theory Appl"},{"key":"5515_CR22","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.jprocont.2019.02.003","volume":"81","author":"D Krishnamoorthy","year":"2019","unstructured":"Krishnamoorthy D, Foss B, Skogestad S (2019) A Primal decomposition algorithm for distributed multistage scenario model predictive control. J Process Control 81:162\u2013171. https:\/\/doi.org\/10.1016\/j.jprocont.2019.02.003","journal-title":"J Process Control"},{"key":"5515_CR23","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/s12293-016-0179-0","volume":"8","author":"S Kundu","year":"2016","unstructured":"Kundu S, Parhi DR (2016) Navigation of underwater robot based on dynamically adaptive harmony search algorithm. Memetic Comput 8:125\u2013146. https:\/\/doi.org\/10.1007\/s12293-016-0179-0","journal-title":"Memetic Comput"},{"key":"5515_CR24","unstructured":"Lee D-W, Lee M-J, Kim M-S (2015) Whole body imitation of human motion with humanoid robot via ZMP stability criterion. In: 2015 IEEE-RAS 15th international conference on humanoid robots (humanoids). IEEE, pp 1003\u20131006"},{"key":"5515_CR25","doi-asserted-by":"publisher","first-page":"266","DOI":"10.1016\/j.ymssp.2019.03.047","volume":"128","author":"D Li","year":"2019","unstructured":"Li D, Cao H, Zhang X et al (2019) Model predictive control based active chatter control in milling process. Mech Syst Signal Process 128:266\u2013281. https:\/\/doi.org\/10.1016\/j.ymssp.2019.03.047","journal-title":"Mech Syst Signal Process"},{"key":"5515_CR26","doi-asserted-by":"publisher","first-page":"689","DOI":"10.1007\/s11633-018-1121-3","volume":"15","author":"RK Mandava","year":"2018","unstructured":"Mandava RK, Vundavilli PR (2018) Near optimal PID controllers for the biped robot while walking on uneven terrains. Int J Autom Comput 15:689\u2013706. https:\/\/doi.org\/10.1007\/s11633-018-1121-3","journal-title":"Int J Autom Comput"},{"key":"5515_CR27","doi-asserted-by":"publisher","first-page":"33","DOI":"10.1007\/s12065-018-0184-y","volume":"12","author":"RK Mandava","year":"2019","unstructured":"Mandava RK, Vundavilli PR (2019) An optimal PID controller for a biped robot walking on flat terrain using MCIWO algorithms. Evol Intell 12:33\u201348. https:\/\/doi.org\/10.1007\/s12065-018-0184-y","journal-title":"Evol Intell"},{"key":"5515_CR28","doi-asserted-by":"publisher","first-page":"4647","DOI":"10.1007\/s00500-017-2649-9","volume":"22","author":"R Mohammadi Asl","year":"2018","unstructured":"Mohammadi Asl R, Pourabdollah E, Salmani M (2018) Optimal fractional order PID for a robotic manipulator using colliding bodies design. Soft Comput 22:4647\u20134659. https:\/\/doi.org\/10.1007\/s00500-017-2649-9","journal-title":"Soft Comput"},{"key":"5515_CR29","doi-asserted-by":"publisher","first-page":"2861","DOI":"10.1007\/s12206-014-0640-2","volume":"28","author":"PK Mohanty","year":"2014","unstructured":"Mohanty PK, Parhi DR (2014) Navigation of autonomous mobile robot using adaptive network based fuzzy inference system. J Mech Sci Technol 28:2861\u20132868. https:\/\/doi.org\/10.1007\/s12206-014-0640-2","journal-title":"J Mech Sci Technol"},{"key":"5515_CR30","doi-asserted-by":"crossref","unstructured":"Olivares M, Albertos P (2013) On the linear control of underactuated systems: The flywheel inverted pendulum. In: IEEE international conference on control and automation, ICCA. IEEE, pp 27\u201332","DOI":"10.1109\/ICCA.2013.6564905"},{"key":"5515_CR31","doi-asserted-by":"publisher","first-page":"282","DOI":"10.1109\/icsmc.1995.538481","volume":"1","author":"S Omatu","year":"1996","unstructured":"Omatu S, Deris S (1996) Stabilization of inverted pendulum by the genetic algorithm. IEEE Symp Emerg Technol Fact Autom ETFA 1:282\u2013287. https:\/\/doi.org\/10.1109\/icsmc.1995.538481","journal-title":"IEEE Symp Emerg Technol Fact Autom ETFA"},{"key":"5515_CR32","doi-asserted-by":"publisher","first-page":"28","DOI":"10.1016\/j.protcy.2014.08.005","volume":"14","author":"A Pandey","year":"2014","unstructured":"Pandey A, Parhi DR (2014) MATLAB simulation for mobile robot navigation with hurdles in cluttered environment using minimum rule based fuzzy logic controller. Procedia Technol 14:28\u201334. https:\/\/doi.org\/10.1016\/j.protcy.2014.08.005","journal-title":"Procedia Technol"},{"key":"5515_CR33","doi-asserted-by":"publisher","first-page":"275","DOI":"10.1108\/WJE-03-2018-0092","volume":"16","author":"A Pandey","year":"2019","unstructured":"Pandey A, Kashyap AK, Parhi DR, Patle BK (2019) Autonomous mobile robot navigation between static and dynamic obstacles using multiple ANFIS architecture. World J Eng 16:275\u2013286. https:\/\/doi.org\/10.1108\/WJE-03-2018-0092","journal-title":"World J Eng"},{"key":"5515_CR34","doi-asserted-by":"publisher","first-page":"1390","DOI":"10.1109\/ROBOT.2002.1014737","volume":"2","author":"NS Pollard","year":"2002","unstructured":"Pollard NS, Hodgins JK, Riley MJ, Atkenson CG (2002) Adapting human motion for the control of a humanoid robot. Proc - IEEE Int Conf Robot Autom 2:1390\u20131397. https:\/\/doi.org\/10.1109\/ROBOT.2002.1014737","journal-title":"Proc - IEEE Int Conf Robot Autom"},{"key":"5515_CR35","doi-asserted-by":"crossref","unstructured":"Pratt J, Carff J, Drakunov S, Goswami A (2006) Capture point: a step toward humanoid push recovery. In: 2006 6th IEEE-RAS international conference on humanoid robots. IEEE, pp 200\u2013207","DOI":"10.1109\/ICHR.2006.321385"},{"key":"5515_CR36","doi-asserted-by":"crossref","unstructured":"Rashid R, Perumal N, Elamvazuthi I, et al (2016) Mobile robot path planning using ant colony optimization. In: 2016 2nd IEEE international symposium on robotics and manufacturing automation (ROMA). IEEE, pp 1\u20136","DOI":"10.1109\/ROMA.2016.7847836"},{"key":"5515_CR37","doi-asserted-by":"publisher","first-page":"10629","DOI":"10.1007\/s00500-019-04568-1","volume":"24","author":"O Saleem","year":"2020","unstructured":"Saleem O, Rizwan M, Zeb AA et al (2020) Online adaptive PID tracking control of an aero-pendulum using PSO-scaled fuzzy gain adjustment mechanism. Soft Comput 24:10629\u201310643. https:\/\/doi.org\/10.1007\/s00500-019-04568-1","journal-title":"Soft Comput"},{"key":"5515_CR38","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/j.jprocont.2018.12.017","volume":"76","author":"P Segovia","year":"2019","unstructured":"Segovia P, Rajaoarisoa L, Nejjari F et al (2019) Model predictive control and moving horizon estimation for water level regulation in inland waterways. J Process Control 76:1\u201314. https:\/\/doi.org\/10.1016\/j.jprocont.2018.12.017","journal-title":"J Process Control"},{"key":"5515_CR39","doi-asserted-by":"crossref","unstructured":"Shafiee-Ashtiani M, Yousefi-Koma A, Shariat-Panahi M, Khadiv M (2016) Push recovery of a humanoid robot based on model predictive control and capture point. In: 2016 4th International Conference on Robotics and Mechatronics (ICROM). IEEE, pp 433\u2013438","DOI":"10.1109\/ICRoM.2016.7886777"},{"key":"5515_CR40","doi-asserted-by":"crossref","unstructured":"Stephens BJ (2011) State estimation for force-controlled humanoid balance using simple models in the presence of modeling error. In: Proceedings\u2014IEEE international conference on robotics and automation. IEEE, pp 3994\u20133999","DOI":"10.1109\/ICRA.2011.5980358"},{"key":"5515_CR41","doi-asserted-by":"crossref","unstructured":"Uriol R, Moran A (2017) Mobile robot path planning in complex environments using ant colony optimization algorithm. In: 2017 3rd international conference on control, automation and robotics (ICCAR). IEEE, pp 15\u201321","DOI":"10.1109\/ICCAR.2017.7942653"},{"key":"5515_CR42","unstructured":"Wang F, Wang Y, Wen S, et al (2012) Nao humanoid robot gait planning based on the linear inverted pendulum. In: Proceedings of the 2012 24th Chinese control and decision conference, CCDC 2012. IEEE, pp 986\u2013990"},{"key":"5515_CR43","unstructured":"Xu Q-L, Cai M-M, Zhao L-H (2017) The robot path planning based on ant colony and particle swarm fusion algorithm. In: 2017 Chinese Automation Congress (CAC). IEEE, pp 411\u2013415"},{"key":"5515_CR44","doi-asserted-by":"publisher","first-page":"35","DOI":"10.5772\/62245","volume":"13","author":"J Yi","year":"2016","unstructured":"Yi J, Zhu Q, Xiong R, Wu J (2016) Walking algorithm of humanoid robot on uneven terrain with terrain estimation. Int J Adv Robot Syst 13:35. https:\/\/doi.org\/10.5772\/62245","journal-title":"Int J Adv Robot Syst"},{"key":"5515_CR45","doi-asserted-by":"publisher","first-page":"247","DOI":"10.1016\/j.ifacol.2018.11.021","volume":"51","author":"S Yu","year":"2018","unstructured":"Yu S, Guo Y, Meng L et al (2018) MPC for path following problems of wheeled mobile robots. IFAC-PapersOnLine 51:247\u2013252. https:\/\/doi.org\/10.1016\/j.ifacol.2018.11.021","journal-title":"IFAC-PapersOnLine"},{"key":"5515_CR46","doi-asserted-by":"crossref","unstructured":"Yuan K, Li Z (2018) An improved formulation for model predictive control of legged robots for gait planning and feedback control. In: 2018 IEEE\/RSJ international conference on intelligent robots and systems (IROS). IEEE, pp 1\u20139","DOI":"10.1109\/IROS.2018.8594309"},{"key":"5515_CR47","doi-asserted-by":"publisher","first-page":"393","DOI":"10.1016\/j.ifacol.2018.11.574","volume":"51","author":"A Zamparelli","year":"2018","unstructured":"Zamparelli A, Scianca N, Lanari L, Oriolo G (2018) Humanoid gait generation on uneven ground using intrinsically stable MPC. IFAC-PapersOnLine 51:393\u2013398. https:\/\/doi.org\/10.1016\/j.ifacol.2018.11.574","journal-title":"IFAC-PapersOnLine"},{"key":"5515_CR48","doi-asserted-by":"publisher","first-page":"333","DOI":"10.1016\/j.ymssp.2019.01.005","volume":"123","author":"Z Zhao","year":"2019","unstructured":"Zhao Z, Liu H, Chen H et al (2019) Kinematics-aware model predictive control for autonomous high-speed tracked vehicles under the off-road conditions. Mech Syst Signal Process 123:333\u2013350. https:\/\/doi.org\/10.1016\/j.ymssp.2019.01.005","journal-title":"Mech Syst Signal Process"},{"key":"5515_CR49","doi-asserted-by":"publisher","first-page":"197","DOI":"10.1016\/j.trit.2016.10.009","volume":"1","author":"Q Zhong","year":"2016","unstructured":"Zhong Q, Chen F (2016) Trajectory planning for biped robot walking on uneven terrain: taking stepping as an example. CAAI Trans Intell Technol 1:197\u2013209. https:\/\/doi.org\/10.1016\/j.trit.2016.10.009","journal-title":"CAAI Trans Intell Technol"}],"container-title":["Soft Computing"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-020-05515-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00500-020-05515-1\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00500-020-05515-1.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,3,15]],"date-time":"2021-03-15T14:09:37Z","timestamp":1615817377000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00500-020-05515-1"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,1,5]]},"references-count":49,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2021,4]]}},"alternative-id":["5515"],"URL":"https:\/\/doi.org\/10.1007\/s00500-020-05515-1","relation":{},"ISSN":["1432-7643","1433-7479"],"issn-type":[{"value":"1432-7643","type":"print"},{"value":"1433-7479","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,1,5]]},"assertion":[{"value":"5 January 2021","order":1,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standard"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}},{"value":"This article does not contain any studies with human participants or animals performed by any of the authors.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Informed consent was obtained from all individual participants included in the study.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Informed consent"}}]}}