{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,3]],"date-time":"2022-04-03T10:30:04Z","timestamp":1648981804924},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2014,2,27]],"date-time":"2014-02-27T00:00:00Z","timestamp":1393459200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Controlling a walking biped robot is a challenging problem due to the robot's complex and uncertain dynamics. In order to tackle this problem, we propose a sliding mode controller based on a dynamic model that we obtained using the conformal geometric algebra (CGA) approach. An important contribution of this paper is the development of algorithms using the CGA framework. The CGA framework permits us to use lines, points, and other geometric entities to obtain the Lagrange equations of the system. The references for the joints of the robot were obtained in a bio-inspired way following the kinematics of a walking human body. The first and second derivatives of the reference signal were obtained via an exact robust differentiator based on a high-order sliding mode. We analyzed the performance of the proposed control schemes by using bio-inspired walking patterns and simulations.<\/jats:p>","DOI":"10.1017\/s0263574714000216","type":"journal-article","created":{"date-parts":[[2014,2,27]],"date-time":"2014-02-27T14:18:02Z","timestamp":1393510682000},"page":"209-224","source":"Crossref","is-referenced-by-count":2,"title":["Robust tracking of bio-inspired references for a biped robot using geometric algebra and sliding mode control"],"prefix":"10.1017","volume":"33","author":[{"given":"J.","family":"Oviedo-Barriga","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"L.","family":"Gonz\u00e1lez-Jim\u00e9nez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Castillo-Toledo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"E.","family":"Bayro-Corrochano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,2,27]]},"reference":[{"key":"S0263574714000216_ref2","first-page":"1620","article-title":"Biped Walking Pattern Generation by Using Preview Control of Zero-Moment Point","volume":"2","author":"Kajita","year":"2003","journal-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2003)"},{"key":"S0263574714000216_ref15","doi-asserted-by":"publisher","DOI":"10.1080\/0020717031000099029"},{"key":"S0263574714000216_ref13","first-page":"18","volume-title":"Proceedings of the International Conference on Intelligent Robots and Systems (IROS 2010)","author":"Zamora","year":"2010"},{"key":"S0263574714000216_ref5","doi-asserted-by":"crossref","unstructured":"J. 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Youm , \u201cGeneral ZMP Preview Control for Bipedal Walking,\u201d Proceedings of the 2007 IEEE International Conference on Robotics and Automation (ICRA 2007) (2007) pp. 2682\u20132687.","DOI":"10.1109\/ROBOT.2007.363870"},{"key":"S0263574714000216_ref18","first-page":"5297","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2013)","author":"Oviedo-Barriga","year":"2013"},{"key":"S0263574714000216_ref14","first-page":"9899","volume-title":"Proceedings of the 17th World Congress of the International Federation of Automatic Control","author":"Gonz\u00e1les-Jim\u00e9nez","year":"2008"},{"key":"S0263574714000216_ref3","first-page":"239","article-title":"The 3D Linear Inverted Pendulum Mode: A Simple Modeling for a Biped Walking Pattern Generation","volume":"1","author":"Kajita","year":"2001","journal-title":"Proceedings of the 2001 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2001)"},{"key":"S0263574714000216_ref16","doi-asserted-by":"publisher","DOI":"10.1080\/00207179308923053"},{"key":"S0263574714000216_ref12","first-page":"4130","volume-title":"Proceedings of the International Conference of Robotics and Automation (ICRA 2006)","author":"Zamora","year":"2006"},{"key":"S0263574714000216_ref8","doi-asserted-by":"publisher","DOI":"10.1080\/0020718508961156"},{"key":"S0263574714000216_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84882-929-9"},{"key":"S0263574714000216_ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-662-04621-0_2"},{"key":"S0263574714000216_ref6","first-page":"2475","article-title":"Stability Experiment of a Biped Walking Robot with Inverted Pendulum","volume":"3","author":"Noh","year":"2004","journal-title":"Proceedings of the 30th Annual Conference of IEEE Industrial Electronics Society (IECON 2004)"},{"key":"S0263574714000216_ref7","doi-asserted-by":"crossref","unstructured":"I.-W. 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Oh , \u201cOnline Biped Walking Pattern Generation for Humanoid Robot KHR-3 (KAIST Humanoid Robot-3: HUBO),\u201d Proceedings of the 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006) (2006) pp. 398\u2013403.","DOI":"10.1109\/ICHR.2006.321303"},{"key":"S0263574714000216_ref10","volume-title":"Sliding Mode Control in Electromechanical Systems","author":"Utkin","year":"1999"},{"key":"S0263574714000216_ref1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0263574714000216_ref17","first-page":"2856","volume-title":"Proceedings of the 47th Conference on Decision and Control","author":"Moreno","year":"2008"},{"key":"S0263574714000216_ref4","first-page":"1966","article-title":"On the Stability of Indirect ZMP Controller for Biped Robot Systems","volume":"2","author":"Choi","year":"2004","journal-title":"Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2004)"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000216","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,21]],"date-time":"2019-04-21T19:41:51Z","timestamp":1555875711000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000216\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,2,27]]},"references-count":18,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2015,1]]}},"alternative-id":["S0263574714000216"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000216","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,2,27]]}}}