{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,4]],"date-time":"2022-04-04T14:37:11Z","timestamp":1649083031586},"reference-count":9,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:p> We describe the stabilization of a hopping humanoid robot against a disturbance. In the proposed scheme, the method of control is selected according to the size of the disturbance. A posture balance controller is used when the disturbance is small, and the posture balance controller and a foot placement method are activated together when the disturbance is large. A simplified model is used to develop the novel controller for the foot placement method, and a linearized Poincare map for single hopping is made. The control law is designed using the pole placement method. The proposed method is verified through simulation and experiment. In the experiment, HUBO2 hops well against various disturbance. <\/jats:p>","DOI":"10.1142\/s021984361250020x","type":"journal-article","created":{"date-parts":[[2012,10,10]],"date-time":"2012-10-10T02:57:22Z","timestamp":1349837842000},"page":"1250020","source":"Crossref","is-referenced-by-count":3,"title":["DYNAMIC BALANCE OF A HOPPING HUMANOID ROBOT USING A LINEARIZATION METHOD"],"prefix":"10.1142","volume":"09","author":[{"given":"BAEK-KYU","family":"CHO","sequence":"first","affiliation":[{"name":"School of Mechanical System Engineering, Kookmin University, 861-1 Jeongneung-dong, Seongbuk-gu, Seoul, 136-702, Republic of Korea"}]},{"given":"JUN-HO","family":"OH","sequence":"additional","affiliation":[{"name":"HUBO Laboratory, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology (KAIST), 335 Gwahangno Yuseong-gu, Daejeon, 305-701, Republic of Korea"}]}],"member":"219","published-online":{"date-parts":[[2012,10,19]]},"reference":[{"key":"rf1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066655"},{"key":"rf10","doi-asserted-by":"crossref","DOI":"10.1109\/MEX.1986.4307016","volume-title":"Legged Robots That Balance","author":"Raibert M. H.","year":"1986"},{"key":"rf11","volume":"23","author":"Hyon S.-H.","journal-title":"IEEE Transactions on Robotics"},{"key":"rf13","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2005.851530"},{"key":"rf14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905054929"},{"key":"rf16","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843609001930"},{"key":"rf17","doi-asserted-by":"publisher","DOI":"10.1163\/016918611X574687"},{"key":"rf18","doi-asserted-by":"publisher","DOI":"10.1109\/9.898695"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S021984361250020X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T18:23:36Z","timestamp":1565115816000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S021984361250020X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9]]},"references-count":9,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2012,10,19]]},"published-print":{"date-parts":[[2012,9]]}},"alternative-id":["10.1142\/S021984361250020X"],"URL":"https:\/\/doi.org\/10.1142\/s021984361250020x","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,9]]}}}