{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:48:53Z","timestamp":1767649733631},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2014,7,31]],"date-time":"2014-07-31T00:00:00Z","timestamp":1406764800000},"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":[[2016,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Biped walking can be regarded as a global limit cycle whose stability is difficult to verify by only local sensory feedback. This paper presents a control strategy combining global sensory reflex and leg synchronization. The inverted pendulum angle is utilized as global motion feedback to ensure global stability, and joint synchronization between legs is designed to stabilize bifurcations. The proposed strategy can achieve a stable gait and stabilize bifurcations. The robustness of this approach was evaluated against external disturbances. Walking experiments of a biped actuated by pneumatic muscles were conducted to confirm the validity of the proposed method. Instead of tracking predetermined trajectories, this method uses sensory reflexes to activate motor neurons and coincides with the biological idea wherein inessential degrees-of-freedom are barely controlled rather than strictly controlled.<\/jats:p>","DOI":"10.1017\/s0263574714002008","type":"journal-article","created":{"date-parts":[[2014,7,31]],"date-time":"2014-07-31T09:45:09Z","timestamp":1406799909000},"page":"973-994","source":"Crossref","is-referenced-by-count":9,"title":["A walking control strategy combining global sensory reflex and leg synchronization"],"prefix":"10.1017","volume":"34","author":[{"given":"Chenglong","family":"Fu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jianmei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ken","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhangguo","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,7,31]]},"reference":[{"key":"S0263574714002008_ref2","doi-asserted-by":"crossref","first-page":"2111","DOI":"10.1109\/TIE.2008.921205","article-title":"Gait synthesis and sensory control of stair climbing for a humanoid robot","volume":"55","author":"Fu","year":"2008","journal-title":"IEEE Trans. Ind. Electron."},{"key":"S0263574714002008_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/BF00198086"},{"key":"S0263574714002008_ref24","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904038888"},{"key":"S0263574714002008_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/BF00449593"},{"key":"S0263574714002008_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300106"},{"key":"S0263574714002008_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471100004X"},{"key":"S0263574714002008_ref19","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005487"},{"key":"S0263574714002008_ref10","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(98)00067-7"},{"key":"S0263574714002008_ref23","doi-asserted-by":"crossref","unstructured":"R. W. Sinnet and A. D. Ames , \u201c2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach,\u201d Proceedings of the IEEE Conference on Decision and Control, Shanghai, China (Dec. 2009), pp. 3200\u20133207.","DOI":"10.1109\/CDC.2009.5400503"},{"key":"S0263574714002008_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.838030"},{"key":"S0263574714002008_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990713"},{"key":"S0263574714002008_ref6","doi-asserted-by":"crossref","unstructured":"L. Righetti and A. J. Ijspeert , \u201cProgrammable Central Pattern Generators: An Application to Biped Locomotion Control,\u201d Proceedings of the IEEE Conference on Robotics Automation, Orlando, FL, USA (May 2006), pp. 1585\u20131590.","DOI":"10.1109\/ROBOT.2006.1641933"},{"key":"S0263574714002008_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063822"},{"key":"S0263574714002008_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574714002008_ref28","doi-asserted-by":"crossref","first-page":"161","DOI":"10.1007\/s004220050468","article-title":"A neuro-mechanical model of legged locomotion: Single leg control","volume":"79","author":"Wadden","year":"1998","journal-title":"Biol. Cybern."},{"key":"S0263574714002008_ref25","doi-asserted-by":"crossref","unstructured":"B. Thuilot , A. Goswami and B. Espiau , \u201cBifurcation and Chaos in a Simple Passive Bipedal Gait,\u201d Proceedings of the IEEE Conference on Robotics Automation, Albuquerque, NM, USA (Apr. 1997), pp. 792\u2013798.","DOI":"10.1109\/ROBOT.1997.620131"},{"key":"S0263574714002008_ref22","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"S0263574714002008_ref21","doi-asserted-by":"crossref","unstructured":"T. McGeer , \u201cPassive Walking with Knees,\u201d Proceedings of the IEEE Conference on Robotics and Automation, Cincinnati, OH, USA (May 1990), pp. 1640\u20131645.","DOI":"10.1109\/ROBOT.1990.126245"},{"key":"S0263574714002008_ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904044410"},{"key":"S0263574714002008_ref3","volume-title":"Neurobiologie","author":"Reichert","year":"2000"},{"key":"S0263574714002008_ref15","first-page":"1305","article-title":"Adaptive, fast walking in a biped robot under neuronal control and learning","volume":"3","author":"Manoonpong","year":"2007","journal-title":"PLos Comput. Biol."},{"key":"S0263574714002008_ref9","doi-asserted-by":"publisher","DOI":"10.1007\/BF00229012"},{"key":"S0263574714002008_ref1","unstructured":"H. Lim , Y. Yamamoto and A. Takanishi , \u201cControl to Realize Human-Like Walking of a Biped Humanoid Robot,\u201d Proceedings of the IEEE Conference on System, Man and Cybernetics, Nashville, TN, USA (Oct. 2000) pp. 3271\u20133276."},{"key":"S0263574714002008_ref11","doi-asserted-by":"crossref","unstructured":"R. Zaier and F. Nagashima , \u201cMotion Pattern Generator and Reflex System for Humanoid Robots,\u201d Proceedings of the IEEE\/RSJ Conference on Intelligent Robots and Systems, Beijing, China (Oct. 2006), pp. 840\u2013845.","DOI":"10.1109\/IROS.2006.281734"},{"key":"S0263574714002008_ref13","doi-asserted-by":"publisher","DOI":"10.1299\/jsmec.44.724"},{"key":"S0263574714002008_ref12","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008891909459"},{"key":"S0263574714002008_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/9.898695"},{"key":"S0263574714002008_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-2236(99)01535-0"},{"key":"S0263574714002008_ref29","doi-asserted-by":"crossref","unstructured":"C. Fu , M. Shuai , Y. Huang , J. Wang and K. Chen , \u201cParametric Walking Patterns and Optimum Atlases for Underactuated Biped Robots,\u201d Proceedings of the IEEE\/RSJ Conference on Intelligent Robots and Systems, Beijing, China (Oct. 2006), pp. 342\u2013347.","DOI":"10.1109\/IROS.2006.281634"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714002008","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,19]],"date-time":"2019-04-19T00:36:16Z","timestamp":1555634176000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714002008\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,7,31]]},"references-count":29,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2016,5]]}},"alternative-id":["S0263574714002008"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714002008","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,7,31]]}}}