{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,4]],"date-time":"2025-09-04T13:28:07Z","timestamp":1756992487915,"version":"3.41.2"},"reference-count":14,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03","funder":[{"DOI":"10.13039\/501100019031","name":"Chongqing Municipal Key Research and Development Program of China","doi-asserted-by":"publisher","award":["KJZD-K201900702"],"award-info":[{"award-number":["KJZD-K201900702"]}],"id":[{"id":"10.13039\/501100019031","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Zhejiang Provincial Natural Science Foundation of China","award":["LY22E050019"],"award-info":[{"award-number":["LY22E050019"]}]},{"name":"Chongqing Engineering Laboratory for Transportation Engineering Application Robot Fundation","award":["CELTEAR-KFKT-202402"],"award-info":[{"award-number":["CELTEAR-KFKT-202402"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2025,6]]},"abstract":"<jats:p> To achieve rapid balance recovery of humanoid robots under external shocks, a bionic bipedal balance control approach based on control priority and target attitude adjustment was developed. In order to successfully restore equilibrium, the system first automatically modifies the control priority based on the impact magnitude and stability margin. This means that when the center of mass approaches the support border, it receives a higher attitude control priority. Second, the discriminating mechanism for the shock confrontation and balance recovery stages was designed, and the target attitude of the robot\u2019s centroid of mass was modified appropriately for each stage. The optimum three-dimensional force at the foot end was then obtained by combining MPC\u2019s state prediction in the future time domain with a quadratic programming solution, allowing the robot to quickly restore its equilibrium after being disturbed by the external environment. External force striking test were conducted on flat and irregular ground while the robot was standing bipedally. The results suggest that the proposed strategy can improve the robot\u2019s ability to withstand stronger external shocks and swiftly recover balance following external hits. <\/jats:p>","DOI":"10.1142\/s0219843624400012","type":"journal-article","created":{"date-parts":[[2024,11,7]],"date-time":"2024-11-07T14:16:04Z","timestamp":1730988964000},"source":"Crossref","is-referenced-by-count":1,"title":["A Bionic Bipedal Balancing Control Based on Control Priority and Target Attitude Adjustments"],"prefix":"10.1142","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0009-0004-9313-7686","authenticated-orcid":false,"given":"Jingnong","family":"Chen","sequence":"first","affiliation":[{"name":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, P. R. China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4359-887X","authenticated-orcid":false,"given":"Xia","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, P. R. China"}]},{"ORCID":"https:\/\/orcid.org\/0009-0006-6092-133X","authenticated-orcid":false,"given":"Jie","family":"Song","sequence":"additional","affiliation":[{"name":"School of Mechatronics and Vehicle Engineering, Chongqing Jiaotong University, Chongqing 400074, P. R. China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8485-2937","authenticated-orcid":false,"given":"Yi","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310032, P. R. 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