{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,5]],"date-time":"2026-03-05T12:03:26Z","timestamp":1772712206614,"version":"3.50.1"},"reference-count":28,"publisher":"Wiley","license":[{"start":{"date-parts":[[2020,3,19]],"date-time":"2020-03-19T00:00:00Z","timestamp":1584576000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51675385"],"award-info":[{"award-number":["51675385"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["GJJ190357"],"award-info":[{"award-number":["GJJ190357"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["2662019QD002"],"award-info":[{"award-number":["2662019QD002"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009102","name":"Education Department of Jiangxi Province","doi-asserted-by":"publisher","award":["51675385"],"award-info":[{"award-number":["51675385"]}],"id":[{"id":"10.13039\/501100009102","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009102","name":"Education Department of Jiangxi Province","doi-asserted-by":"publisher","award":["GJJ190357"],"award-info":[{"award-number":["GJJ190357"]}],"id":[{"id":"10.13039\/501100009102","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100009102","name":"Education Department of Jiangxi Province","doi-asserted-by":"publisher","award":["2662019QD002"],"award-info":[{"award-number":["2662019QD002"]}],"id":[{"id":"10.13039\/501100009102","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["51675385"],"award-info":[{"award-number":["51675385"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["GJJ190357"],"award-info":[{"award-number":["GJJ190357"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2662019QD002"],"award-info":[{"award-number":["2662019QD002"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2020,3,19]]},"abstract":"<jats:p>Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.<\/jats:p>","DOI":"10.1155\/2020\/4764879","type":"journal-article","created":{"date-parts":[[2020,3,19]],"date-time":"2020-03-19T23:31:38Z","timestamp":1584660698000},"page":"1-16","source":"Crossref","is-referenced-by-count":1,"title":["A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground"],"prefix":"10.1155","volume":"2020","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2596-4933","authenticated-orcid":true,"given":"Yang","family":"Wang","sequence":"first","affiliation":[{"name":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Daojin","family":"Yao","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, China"},{"name":"Department of Electrical and Automation Engineering, East China Jiaotong University, Nanchang 330013, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jie","family":"He","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8212-2452","authenticated-orcid":true,"given":"Xiaohui","family":"Xiao","sequence":"additional","affiliation":[{"name":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aav4282"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.04.021"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.1177\/1077546310395974"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1155\/2018\/5712108"},{"key":"5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910379882"},{"key":"6","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2015.12.002"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/9.898695"},{"key":"8","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2008.2010366"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1007\/s10544-018-0353-x"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574713000866"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.02.007"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910395339"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2012.2230992"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2008.2006870"},{"key":"15","doi-asserted-by":"publisher","DOI":"10.1038\/nphys3568"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.15632\/jtam-pl.56.3.571"},{"issue":"2","key":"17","first-page":"151","volume":"2","year":"2018","journal-title":"Advances in Robotics Research"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-007-9036-9"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.5772\/62330"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-018-09653-1"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.2316\/journal.206.2017.1.206-4779"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.2316\/journal.206.2018.5.206-5137"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-018-0336-0"},{"key":"26","doi-asserted-by":"publisher","DOI":"10.3390\/e19100557"},{"key":"27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918791718"},{"key":"28","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2010.2085471"},{"key":"29","first-page":"189","volume-title":"Autonomous stride frequency and step-length adjustment for bipedal walking control","year":"2007"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9479-3"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/4764879.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/4764879.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2020\/4764879.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,3,19]],"date-time":"2020-03-19T23:31:40Z","timestamp":1584660700000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/complexity\/2020\/4764879\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,3,19]]},"references-count":28,"alternative-id":["4764879","4764879"],"URL":"https:\/\/doi.org\/10.1155\/2020\/4764879","relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,3,19]]}}}