{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,1]],"date-time":"2026-03-01T05:38:01Z","timestamp":1772343481323,"version":"3.50.1"},"reference-count":36,"publisher":"Springer Science and Business Media LLC","issue":"8","license":[{"start":{"date-parts":[[2019,7,4]],"date-time":"2019-07-04T00:00:00Z","timestamp":1562198400000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2019,7,4]],"date-time":"2019-07-04T00:00:00Z","timestamp":1562198400000},"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":["Neural Comput &amp; Applic"],"published-print":{"date-parts":[[2020,4]]},"DOI":"10.1007\/s00521-019-04326-2","type":"journal-article","created":{"date-parts":[[2019,7,4]],"date-time":"2019-07-04T16:03:45Z","timestamp":1562256225000},"page":"3407-3421","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":27,"title":["An adaptive PID control algorithm for the two-legged robot walking on a slope"],"prefix":"10.1007","volume":"32","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6186-9138","authenticated-orcid":false,"given":"Ravi Kumar","family":"Mandava","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pandu R.","family":"Vundavilli","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,7,4]]},"reference":[{"key":"4326_CR1","doi-asserted-by":"publisher","first-page":"255","DOI":"10.1109\/3468.759271","volume":"29","author":"CL Shih","year":"1999","unstructured":"Shih CL (1999) Ascending and descending stairs for a biped robot. IEEE Trans Systems Man Cybern A: Syst Hum 29:255\u2013268","journal-title":"IEEE Trans Systems Man Cybern A: Syst Hum"},{"key":"4326_CR2","doi-asserted-by":"publisher","first-page":"280","DOI":"10.1109\/70.938385","volume":"17","author":"Q Huang","year":"2001","unstructured":"Huang Q, Yokoi K, Kajita S, Kaneko K, Arai H, Koyachi N, Tanie K (2001) Planning walking patterns for a biped robot. IEEE Trans Robot Autom 17:280\u2013289","journal-title":"IEEE Trans Robot Autom"},{"key":"4326_CR3","doi-asserted-by":"crossref","unstructured":"Sugihara T, Nakamura Y, Inoue H (2002) Real time humanoid motion generation through ZMP manipulation based on inverted pendulum control. In: Proceeding of the international conference on robotics and automation, Washington, USA, pp 1404\u20131409","DOI":"10.1109\/ROBOT.2002.1014740"},{"key":"4326_CR4","doi-asserted-by":"crossref","unstructured":"Kajita S, Kanehiro F, Yokoi K, Hirukawa H (2001) The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation. In: Proceeding of the international conference on intelligent robots and systems, Maui, USA, pp 239\u2013246","DOI":"10.1109\/IROS.2001.973365"},{"key":"4326_CR5","unstructured":"Park IW, Kim JY, Lee J, Oh JH (2006) Online free walking trajectory generation for biped humanoid robot KHR-3 (HUBO). Proceeding of the international conference on robotics and automation, Orlando, Florida, USA, pp 1231\u20131236"},{"key":"4326_CR6","doi-asserted-by":"publisher","first-page":"1959","DOI":"10.1007\/s00500-012-0868-7","volume":"16","author":"U Seven","year":"2012","unstructured":"Seven U, Akbas T, Fidan KC, Erbatur K (2012) Bipedal robot walking control on inclined planes by fuzzy reference trajectory modification. Soft Comput 16:1959\u20131976","journal-title":"Soft Comput"},{"key":"4326_CR7","doi-asserted-by":"publisher","first-page":"186","DOI":"10.1016\/S1672-6529(13)60214-0","volume":"10","author":"MH Chiang","year":"2013","unstructured":"Chiang MH, Chiang FR (2013) Anthropomorphic design of the human-like walking robot. J Bionic Eng 10:186\u2013193","journal-title":"J Bionic Eng"},{"key":"4326_CR8","doi-asserted-by":"publisher","first-page":"159","DOI":"10.1016\/S1672-6529(14)60033-0","volume":"11","author":"L Ren","year":"2014","unstructured":"Ren L, Qian ZH, Ren LQ (2014) Biomechanics of musculoskeletal system and its biomimetic implications: a review. J Bionic Eng 11:159\u2013175","journal-title":"J Bionic Eng"},{"issue":"1\/2","key":"4326_CR9","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1016\/0025-5564(72)90061-2","volume":"15","author":"M Vukobratovic","year":"1972","unstructured":"Vukobratovic M, Stepanenko J (1972) On the stability of anthropomorphic systems. Math Biosci 15(1\/2):1\u201337","journal-title":"Math Biosci"},{"key":"4326_CR10","doi-asserted-by":"crossref","unstructured":"Goswami A (1999) Foot rotation indicator (FRI) point: a new gait planning tool to evaluate postural stability of biped robots. In: Proceeding of the IEEE international conference on robotics and automation, pp 47\u201352","DOI":"10.1109\/ROBOT.1999.769929"},{"key":"4326_CR11","doi-asserted-by":"crossref","unstructured":"Kajita S, Kanehiro F, Kaneko K, Fujiwara K, Harada K, Yokoi K, Hirukawa H (2003) Biped walking pattern generation by using preview control of zero-moment point. In\u201d Proceeding of the IEEE international conference on robotics and automation, pp 1620\u20131626","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"4326_CR12","doi-asserted-by":"crossref","unstructured":"Shibuya M, Suzuki T, Ohnishi K (2006) Trajectory planning of biped robot using linear pendulum mode for double support phase. In: Proceeding of the 32nd annual conference of the IEEE industrial electronics society, pp 4094\u20134099","DOI":"10.1109\/IECON.2006.348126"},{"issue":"3","key":"4326_CR13","doi-asserted-by":"publisher","first-page":"835","DOI":"10.1109\/TIE.2008.2005150","volume":"56","author":"K Erbatur","year":"2009","unstructured":"Erbatur K, Kurt O (2009) Natural ZMP trajectories for biped robot reference generation. IEEE Trans Ind Electron 56(3):835\u2013845","journal-title":"IEEE Trans Ind Electron"},{"issue":"2","key":"4326_CR14","doi-asserted-by":"publisher","first-page":"244","DOI":"10.1109\/3477.662765","volume":"28","author":"C-L Shih","year":"1998","unstructured":"Shih C-L, Chiou C-J (1998) The motion control of a statically stable biped robot on an uneven floor. IEEE Trans Syst Man Cybern B: Cybern 28(2):244\u2013249","journal-title":"IEEE Trans Syst Man Cybern B: Cybern"},{"key":"4326_CR15","doi-asserted-by":"crossref","unstructured":"Hwang SW, Yeon JS, Park JH (2013) Trajectory generation method for biped robots to climb up an inclined surface. In: 44th international symposium on robotics (ISR), pp 1\u20135","DOI":"10.1109\/ISR.2013.6695712"},{"issue":"3","key":"4326_CR16","doi-asserted-by":"publisher","first-page":"220","DOI":"10.1049\/el.2014.4255","volume":"51","author":"J Cristiano","year":"2015","unstructured":"Cristiano J, Puig D, Garcia MA (2015) Efficient locomotion control of biped robots on unknown sloped surfaces with central pattern generators. Electron Lett 51(3):220\u2013222","journal-title":"Electron Lett"},{"key":"4326_CR17","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1007\/s10015-005-0357-5","volume":"10","author":"T-Y Choi","year":"2006","unstructured":"Choi T-Y, Park S-Y, Lee J-J (2006) A hybrid SOF-PID controller for a MIMO biped robot. Artif Life Robot 10:69\u201372","journal-title":"Artif Life Robot"},{"key":"4326_CR18","doi-asserted-by":"publisher","first-page":"86","DOI":"10.1016\/j.procs.2015.12.052","volume":"73","author":"S Bouhajar","year":"2015","unstructured":"Bouhajar S, Maherzi E, Khraief N, Besbes M, Belghith S (2015) Trajectory generation using predictive PID control for stable walking humanoid robot. Procedia Comput Sci 73:86\u201393","journal-title":"Procedia Comput Sci"},{"key":"4326_CR19","unstructured":"Anh HPH, Huan TT, Nam NT (2014) Novel robust walking for biped robot using adaptive neural PID controller. In: International conference on automatic control theory and application, pp 86\u201389"},{"key":"4326_CR20","doi-asserted-by":"publisher","DOI":"10.1002\/9780470512517","volume-title":"Computational intelligence: an introduction","author":"AP Engelbrecht","year":"2007","unstructured":"Engelbrecht AP (2007) Computational intelligence: an introduction. Wiley, Hoboken"},{"key":"4326_CR21","doi-asserted-by":"publisher","first-page":"8","DOI":"10.1016\/j.knosys.2013.12.003","volume":"57","author":"H Shahbazi","year":"2014","unstructured":"Shahbazi H, Jamshidi K, Monadjemi AH, Eslami H (2014) Biologically inspired layered learning in humanoid robots. Knowl Syst 57:8\u201327","journal-title":"Knowl Syst"},{"issue":"12","key":"4326_CR22","first-page":"1325","volume":"178","author":"TJ Yau","year":"2008","unstructured":"Yau TJ, Yun TC, Chih PH (2008) Design of fuzzy PID controllers using modified triangular membership functions. J Inf Sci 178(12):1325\u20131333","journal-title":"J Inf Sci"},{"issue":"1","key":"4326_CR23","doi-asserted-by":"publisher","first-page":"143","DOI":"10.1016\/S0959-1524(01)00025-7","volume":"12","author":"CC Hang","year":"2002","unstructured":"Hang CC, Astrom KJ, Wang QG (2002) Relay feedback auto-tuning of process controllers: a tutorial review. J Process Control 12(1):143\u2013162","journal-title":"J Process Control"},{"key":"4326_CR24","doi-asserted-by":"publisher","first-page":"64","DOI":"10.1016\/j.robot.2016.07.005","volume":"84","author":"D Fister","year":"2016","unstructured":"Fister D, Fister Jr I, Fister I, Safaric R (2016) Parameter tuning of PID controller with reactive nature-inspired algorithms. Robot Auton Syst 84:64\u201375","journal-title":"Robot Auton Syst"},{"key":"4326_CR25","doi-asserted-by":"crossref","unstructured":"Varol HA, Bingul Z (2004) A new PID tuning technique using ant algorithm. In: Proceeding of the 2004 American Control Conference Boston, Massachusetts","DOI":"10.23919\/ACC.2004.1383780"},{"key":"4326_CR26","doi-asserted-by":"publisher","first-page":"1","DOI":"10.5772\/52448","volume":"10","author":"JJ Alcaraz-Jimenez","year":"2013","unstructured":"Alcaraz-Jimenez JJ, Herrero-Perez D, Martinez-Barbera H, JJ (2013) A simple feedback controller to reduce angular momentum in ZMP-based gaits. Int J Adv Robot Syst 10:1\u20137","journal-title":"Int J Adv Robot Syst"},{"key":"4326_CR27","doi-asserted-by":"crossref","unstructured":"Aghbali B, Ousefi-Koma AY (2013) ZMP Trajectory control of a humanoid robot using different controllers based on an offline trajectory generation. In: Proceeding of the 2013 RSIIISM international conference on robotics and mechatronics, Tehran, Iran","DOI":"10.1109\/ICRoM.2013.6510161"},{"key":"4326_CR28","doi-asserted-by":"crossref","unstructured":"Kajita S, Morisawa M, Miura K, Nakaoka S, Harada K, Kaneko K, Kanehiro F, Yokoi K (2010) Biped walking stabilization based on linear inverted pendulum tracking. In: The 2010 IEEE\/RSJ international conference on intelligent robots and systems, Taipei, Taiwan","DOI":"10.1109\/IROS.2010.5651082"},{"issue":"1","key":"4326_CR29","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1007\/s12555-009-0110-2","volume":"7","author":"S Park","year":"2009","unstructured":"Park S, Han Y, Hahn H (2009) Balance control of a biped robot using camera image of reference object. Int J Control Autom Syst 7(1):75\u201384","journal-title":"Int J Control Autom Syst"},{"key":"4326_CR30","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1016\/j.knosys.2012.10.008","volume":"39","author":"AE Amin","year":"2013","unstructured":"Amin AE (2013) A novel classification model for cotton yarn quality based on trained neural network using genetic algorithm. Knowl-Based Syst 39:124\u2013132","journal-title":"Knowl-Based Syst"},{"issue":"4","key":"4326_CR31","doi-asserted-by":"publisher","first-page":"355","DOI":"10.1016\/j.ecoinf.2006.07.003","volume":"1","author":"AR Mehrabian","year":"2006","unstructured":"Mehrabian AR, Lucas C (2006) A novel numerical optimization algorithm inspired from weed colonization. Ecol Inf 1(4):355\u2013366","journal-title":"Ecol Inf"},{"key":"4326_CR32","doi-asserted-by":"crossref","unstructured":"Kennedy J, Eberhart R (1995) Particle swarm optimization. Proceedings of IEEE international conference on neural networks, Perth, vol 27, pp 1942\u20131948","DOI":"10.1109\/ICNN.1995.488968"},{"issue":"4","key":"4326_CR33","doi-asserted-by":"publisher","first-page":"525","DOI":"10.1007\/s12046-011-0031-7","volume":"36","author":"PR Vundavilli","year":"2011","unstructured":"Vundavilli PR, Pratihar DK (2011) Balanced gait generations of a two-legged robot on sloping surface. Sadhana 36(4):525\u2013550","journal-title":"Sadhana"},{"key":"4326_CR34","doi-asserted-by":"publisher","first-page":"18","DOI":"10.1016\/j.apm.2006.06.018","volume":"31","author":"PN Mousavi","year":"2007","unstructured":"Mousavi PN, Bagheri A (2007) Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations. Appl Math Model 31:18\u201337","journal-title":"Appl Math Model"},{"key":"4326_CR35","first-page":"299","volume":"16","author":"M Ranjbar","year":"2017","unstructured":"Ranjbar M, Mayorga RV (2017) A seven link biped robot walking pattern generation on various surfaces. WSEAS Trans Syst 16:299\u2013312","journal-title":"WSEAS Trans Syst"},{"key":"4326_CR36","doi-asserted-by":"crossref","unstructured":"Bagheri A, Miripour-Fard B, Mousavi PN (2010) Mathematical modelling and simulation of combined trajectory paths of a seven link biped robot. Climbing and Walking Robots, Published by Intech Open","DOI":"10.5772\/8823"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-019-04326-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s00521-019-04326-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-019-04326-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,7,2]],"date-time":"2020-07-02T23:29:43Z","timestamp":1593732583000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s00521-019-04326-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,7,4]]},"references-count":36,"journal-issue":{"issue":"8","published-print":{"date-parts":[[2020,4]]}},"alternative-id":["4326"],"URL":"https:\/\/doi.org\/10.1007\/s00521-019-04326-2","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,7,4]]},"assertion":[{"value":"16 January 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"28 June 2019","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"4 July 2019","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Compliance with ethical standards"}},{"value":"All authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}