{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:30:56Z","timestamp":1762522256145,"version":"3.40.5"},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"10","license":[{"start":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T00:00:00Z","timestamp":1551398400000},"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":[[2019,10]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>To improve biped locomotion\u2019s robustness to internal and external disturbances, this study proposes a hierarchical structure with three control levels. At the high level, a foothold sequence is generated so that the Center of Mass (CoM) trajectory tracks a planned path. The planning procedure is simplified by selecting the midpoint between two consecutive Center of Pressure (CoP) points as the feature point. At the middle level, a novel robust hybrid controller is devised to drive perturbed system states back to the nominal trajectory within finite cycles without chattering. The novelty lies in that the hybrid controller is not subject to linear CoM dynamic constraints. The hybrid controller consists of two sub-controllers: an oscillation controller and a smoothing controller. For the oscillation controller, the desired CoM height is specified as a sine-shaped function, avoiding a new attractive limit cycle. However, this controller results in the inevitable chattering because of discontinuities. A smoothing controller provides continuous properties and thus can inhibit the chattering problem, but has a smaller region of attraction compared with the oscillation controller. A hybrid controller merges the two controllers for a smooth transition. At the low level, the desired CoM motion is defined as tasks and embedded in a whole body operational space (WBOS) controller to compute the joint torques analytically. The novelty of the low-level controller lies in that within the WBOS framework, CoM motion is not subject to fixed CoM dynamics and thus can be generalized.<\/jats:p>","DOI":"10.1017\/s0263574719000237","type":"journal-article","created":{"date-parts":[[2019,3,1]],"date-time":"2019-03-01T05:03:21Z","timestamp":1551416601000},"page":"1750-1767","source":"Crossref","is-referenced-by-count":28,"title":["Robust Bipedal Locomotion Based on a Hierarchical Control Structure"],"prefix":"10.1017","volume":"37","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1594-3867","authenticated-orcid":false,"given":"Jianwen","family":"Luo","sequence":"first","affiliation":[]},{"given":"Yao","family":"Su","sequence":"additional","affiliation":[]},{"given":"Lecheng","family":"Ruan","sequence":"additional","affiliation":[]},{"given":"Ye","family":"Zhao","sequence":"additional","affiliation":[]},{"given":"Donghyun","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Luis","family":"Sentis","sequence":"additional","affiliation":[]},{"given":"Chenglong","family":"Fu","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,3,1]]},"reference":[{"unstructured":"15. 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Blickhan , \u201cCompliant Leg Behaviour Explains Basic Dynamics of Walking and Running,\u201d Proceedings of the Royal Society B: Biological Sciences (2006) pp. 2861\u20132867.","key":"S0263574719000237_ref31"},{"unstructured":"1. H. Dai , A. Valenzuela and R. Tedrake , \u201cWhole-Body Motion Planning with Centroidal Dynamics and Full Kinematics,\u201d IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain (2014) pp. 295\u2013302.","key":"S0263574719000237_ref1"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574719000237","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,9,9]],"date-time":"2019-09-09T00:58:48Z","timestamp":1567990728000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574719000237\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,3,1]]},"references-count":38,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2019,10]]}},"alternative-id":["S0263574719000237"],"URL":"https:\/\/doi.org\/10.1017\/s0263574719000237","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2019,3,1]]}}}