Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces Article Swipe

PDF

Chih‐Cheng Liu , Tsu‐Tian Lee , Sheng-Ru Xiao , Yi‐Chung Lin , Yiyang Lin , Ching‐Chang Wong ·

YOU? · · 2020 · Open Access · · DOI: https://doi.org/10.3390/app10082699

In this paper, a real-time balance control method is designed and implemented on a field-programmable gate array (FPGA) chip for a small-sized humanoid robot. In the proposed balance control structure, there are four modules: (1) external force detection, (2) push recovery balance control, (3) trajectory planning, and (4) inverse kinematics. The proposed method is implemented on the FPGA chip so that it can quickly respond to keep the small-sized humanoid robot balanced when it is pushed by external forces. A gyroscope and an accelerometer are used to detect the inclination angle of the robot. When the robot is under the action of an external force, an excessively large inclination angle may be produced, causing it to lose its balance. A linear inverted pendulum with a flywheel model is employed to estimate a capture point where the robot should step to maintain its balance. In addition, the central pattern generators (CPGs) with a sinusoidal function are adopted to plan the stepping trajectories. Some experimental results are presented to illustrate that the proposed real-time balance control method can effectively enable the robot to keep its balance to avoid falling down.

Related Topics

Artificial Intelligence

Physics

Medicine

Mechanical Engineering

Astronomy

Physical Medicine And Rehabilitation

Quantum Mechanics

Concepts

Humanoid robot Control theory (sociology) Robot Inverted pendulum Zero moment point Computer science Simulation Inverse kinematics Dynamic balance Balance (ability) Trajectory Control engineering Engineering Control (management) Artificial intelligence Physics Nonlinear system Medicine Mechanical engineering Astronomy Physical medicine and rehabilitation Quantum mechanics

Metadata

Type: article
Language: en
Landing Page: https://doi.org/10.3390/app10082699
PDF: https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013
OA Status: gold
Cited By: 6
References: 25
Related Works: 10
OpenAlex ID: https://openalex.org/W3016275355

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W3016275355

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.3390/app10082699

Digital Object Identifier
Title: Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces

Work title
Type: article

OpenAlex work type
Language: en

Primary language
Publication year: 2020

Year of publication
Publication date: 2020-04-14

Full publication date if available
Authors: Chih‐Cheng Liu, Tsu‐Tian Lee, Sheng-Ru Xiao, Yi‐Chung Lin, Yiyang Lin, Ching‐Chang Wong

List of authors in order
Landing page: https://doi.org/10.3390/app10082699

Publisher landing page
PDF URL: https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: gold

Open access status per OpenAlex
OA URL: https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013

Direct OA link when available
Concepts: Humanoid robot, Control theory (sociology), Robot, Inverted pendulum, Zero moment point, Computer science, Simulation, Inverse kinematics, Dynamic balance, Balance (ability), Trajectory, Control engineering, Engineering, Control (management), Artificial intelligence, Physics, Nonlinear system, Medicine, Mechanical engineering, Astronomy, Physical medicine and rehabilitation, Quantum mechanics

Top concepts (fields/topics) attached by OpenAlex
Cited by: 6

Total citation count in OpenAlex
Citations by year (recent): 2025: 1, 2024: 1, 2023: 2, 2021: 1, 2020: 1

Per-year citation counts (last 5 years)
References (count): 25

Number of works referenced by this work
Related works (count): 10

Other works algorithmically related by OpenAlex

Full payload

id	https://openalex.org/W3016275355
doi	https://doi.org/10.3390/app10082699
ids.doi	https://doi.org/10.3390/app10082699
ids.mag	3016275355
ids.openalex	https://openalex.org/W3016275355
fwci	0.37583115
type	article
title	Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
awards[0].id	https://openalex.org/G4340774002
awards[0].funder_id	https://openalex.org/F4320309618
awards[0].display_name
awards[0].funder_award_id	MOST 107-2221-E-032-048
awards[0].funder_display_name	Ministry of Science and Technology
biblio.issue	8
biblio.volume	10
biblio.last_page	2699
biblio.first_page	2699
topics[0].id	https://openalex.org/T10879
topics[0].field.id	https://openalex.org/fields/22
topics[0].field.display_name	Engineering
topics[0].score	1.0
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/2204
topics[0].subfield.display_name	Biomedical Engineering
topics[0].display_name	Robotic Locomotion and Control
topics[1].id	https://openalex.org/T11023
topics[1].field.id	https://openalex.org/fields/22
topics[1].field.display_name	Engineering
topics[1].score	0.9872999787330627
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/2204
topics[1].subfield.display_name	Biomedical Engineering
topics[1].display_name	Prosthetics and Rehabilitation Robotics
topics[2].id	https://openalex.org/T11615
topics[2].field.id	https://openalex.org/fields/22
topics[2].field.display_name	Engineering
topics[2].score	0.9057000279426575
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/2207
topics[2].subfield.display_name	Control and Systems Engineering
topics[2].display_name	Control and Dynamics of Mobile Robots
funders[0].id	https://openalex.org/F4320309618
funders[0].ror	https://ror.org/02b207r52
funders[0].display_name	Ministry of Science and Technology
is_xpac	False
apc_list.value	2300
apc_list.currency	CHF
apc_list.value_usd	2490
apc_paid.value	2300
apc_paid.currency	CHF
apc_paid.value_usd	2490
concepts[0].id	https://openalex.org/C60692881
concepts[0].level	3
concepts[0].score	0.7233216762542725
concepts[0].wikidata	https://www.wikidata.org/wiki/Q584529
concepts[0].display_name	Humanoid robot
concepts[1].id	https://openalex.org/C47446073
concepts[1].level	3
concepts[1].score	0.6007257699966431
concepts[1].wikidata	https://www.wikidata.org/wiki/Q5165890
concepts[1].display_name	Control theory (sociology)
concepts[2].id	https://openalex.org/C90509273
concepts[2].level	2
concepts[2].score	0.5349207520484924
concepts[2].wikidata	https://www.wikidata.org/wiki/Q11012
concepts[2].display_name	Robot
concepts[3].id	https://openalex.org/C192921069
concepts[3].level	3
concepts[3].score	0.49498218297958374
concepts[3].wikidata	https://www.wikidata.org/wiki/Q550134
concepts[3].display_name	Inverted pendulum
concepts[4].id	https://openalex.org/C19245436
concepts[4].level	4
concepts[4].score	0.4933129847049713
concepts[4].wikidata	https://www.wikidata.org/wiki/Q279038
concepts[4].display_name	Zero moment point
concepts[5].id	https://openalex.org/C41008148
concepts[5].level	0
concepts[5].score	0.4672662317752838
concepts[5].wikidata	https://www.wikidata.org/wiki/Q21198
concepts[5].display_name	Computer science
concepts[6].id	https://openalex.org/C44154836
concepts[6].level	1
concepts[6].score	0.46637704968452454
concepts[6].wikidata	https://www.wikidata.org/wiki/Q45045
concepts[6].display_name	Simulation
concepts[7].id	https://openalex.org/C17816587
concepts[7].level	3
concepts[7].score	0.449860155582428
concepts[7].wikidata	https://www.wikidata.org/wiki/Q1501872
concepts[7].display_name	Inverse kinematics
concepts[8].id	https://openalex.org/C166151169
concepts[8].level	2
concepts[8].score	0.44741904735565186
concepts[8].wikidata	https://www.wikidata.org/wiki/Q16946937
concepts[8].display_name	Dynamic balance
concepts[9].id	https://openalex.org/C168031717
concepts[9].level	2
concepts[9].score	0.445524126291275
concepts[9].wikidata	https://www.wikidata.org/wiki/Q1530280
concepts[9].display_name	Balance (ability)
concepts[10].id	https://openalex.org/C13662910
concepts[10].level	2
concepts[10].score	0.42651355266571045
concepts[10].wikidata	https://www.wikidata.org/wiki/Q193139
concepts[10].display_name	Trajectory
concepts[11].id	https://openalex.org/C133731056
concepts[11].level	1
concepts[11].score	0.36336711049079895
concepts[11].wikidata	https://www.wikidata.org/wiki/Q4917288
concepts[11].display_name	Control engineering
concepts[12].id	https://openalex.org/C127413603
concepts[12].level	0
concepts[12].score	0.3620995283126831
concepts[12].wikidata	https://www.wikidata.org/wiki/Q11023
concepts[12].display_name	Engineering
concepts[13].id	https://openalex.org/C2775924081
concepts[13].level	2
concepts[13].score	0.18864136934280396
concepts[13].wikidata	https://www.wikidata.org/wiki/Q55608371
concepts[13].display_name	Control (management)
concepts[14].id	https://openalex.org/C154945302
concepts[14].level	1
concepts[14].score	0.12881633639335632
concepts[14].wikidata	https://www.wikidata.org/wiki/Q11660
concepts[14].display_name	Artificial intelligence
concepts[15].id	https://openalex.org/C121332964
concepts[15].level	0
concepts[15].score	0.10162353515625
concepts[15].wikidata	https://www.wikidata.org/wiki/Q413
concepts[15].display_name	Physics
concepts[16].id	https://openalex.org/C158622935
concepts[16].level	2
concepts[16].score	0.07878321409225464
concepts[16].wikidata	https://www.wikidata.org/wiki/Q660848
concepts[16].display_name	Nonlinear system
concepts[17].id	https://openalex.org/C71924100
concepts[17].level	0
concepts[17].score	0.0
concepts[17].wikidata	https://www.wikidata.org/wiki/Q11190
concepts[17].display_name	Medicine
concepts[18].id	https://openalex.org/C78519656
concepts[18].level	1
concepts[18].score	0.0
concepts[18].wikidata	https://www.wikidata.org/wiki/Q101333
concepts[18].display_name	Mechanical engineering
concepts[19].id	https://openalex.org/C1276947
concepts[19].level	1
concepts[19].score	0.0
concepts[19].wikidata	https://www.wikidata.org/wiki/Q333
concepts[19].display_name	Astronomy
concepts[20].id	https://openalex.org/C99508421
concepts[20].level	1
concepts[20].score	0.0
concepts[20].wikidata	https://www.wikidata.org/wiki/Q2678675
concepts[20].display_name	Physical medicine and rehabilitation
concepts[21].id	https://openalex.org/C62520636
concepts[21].level	1
concepts[21].score	0.0
concepts[21].wikidata	https://www.wikidata.org/wiki/Q944
concepts[21].display_name	Quantum mechanics
keywords[0].id	https://openalex.org/keywords/humanoid-robot
keywords[0].score	0.7233216762542725
keywords[0].display_name	Humanoid robot
keywords[1].id	https://openalex.org/keywords/control-theory
keywords[1].score	0.6007257699966431
keywords[1].display_name	Control theory (sociology)
keywords[2].id	https://openalex.org/keywords/robot
keywords[2].score	0.5349207520484924
keywords[2].display_name	Robot
keywords[3].id	https://openalex.org/keywords/inverted-pendulum
keywords[3].score	0.49498218297958374
keywords[3].display_name	Inverted pendulum
keywords[4].id	https://openalex.org/keywords/zero-moment-point
keywords[4].score	0.4933129847049713
keywords[4].display_name	Zero moment point
keywords[5].id	https://openalex.org/keywords/computer-science
keywords[5].score	0.4672662317752838
keywords[5].display_name	Computer science
keywords[6].id	https://openalex.org/keywords/simulation
keywords[6].score	0.46637704968452454
keywords[6].display_name	Simulation
keywords[7].id	https://openalex.org/keywords/inverse-kinematics
keywords[7].score	0.449860155582428
keywords[7].display_name	Inverse kinematics
keywords[8].id	https://openalex.org/keywords/dynamic-balance
keywords[8].score	0.44741904735565186
keywords[8].display_name	Dynamic balance
keywords[9].id	https://openalex.org/keywords/balance
keywords[9].score	0.445524126291275
keywords[9].display_name	Balance (ability)
keywords[10].id	https://openalex.org/keywords/trajectory
keywords[10].score	0.42651355266571045
keywords[10].display_name	Trajectory
keywords[11].id	https://openalex.org/keywords/control-engineering
keywords[11].score	0.36336711049079895
keywords[11].display_name	Control engineering
keywords[12].id	https://openalex.org/keywords/engineering
keywords[12].score	0.3620995283126831
keywords[12].display_name	Engineering
keywords[13].id	https://openalex.org/keywords/control
keywords[13].score	0.18864136934280396
keywords[13].display_name	Control (management)
keywords[14].id	https://openalex.org/keywords/artificial-intelligence
keywords[14].score	0.12881633639335632
keywords[14].display_name	Artificial intelligence
keywords[15].id	https://openalex.org/keywords/physics
keywords[15].score	0.10162353515625
keywords[15].display_name	Physics
keywords[16].id	https://openalex.org/keywords/nonlinear-system
keywords[16].score	0.07878321409225464
keywords[16].display_name	Nonlinear system
language	en
locations[0].id	doi:10.3390/app10082699
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4210205812
locations[0].source.issn	2076-3417
locations[0].source.type	journal
locations[0].source.is_oa	True
locations[0].source.issn_l	2076-3417
locations[0].source.is_core	True
locations[0].source.is_in_doaj	True
locations[0].source.display_name	Applied Sciences
locations[0].source.host_organization	https://openalex.org/P4310310987
locations[0].source.host_organization_name	Multidisciplinary Digital Publishing Institute
locations[0].source.host_organization_lineage	https://openalex.org/P4310310987
locations[0].source.host_organization_lineage_names	Multidisciplinary Digital Publishing Institute
locations[0].license	cc-by
locations[0].pdf_url	https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013
locations[0].version	publishedVersion
locations[0].raw_type	journal-article
locations[0].license_id	https://openalex.org/licenses/cc-by
locations[0].is_accepted	True
locations[0].is_published	True
locations[0].raw_source_name	Applied Sciences
locations[0].landing_page_url	https://doi.org/10.3390/app10082699
locations[1].id	pmh:oai:doaj.org/article:1dfd007a1e2742328c59b3554ebde4d8
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306401280
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	False
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	DOAJ (DOAJ: Directory of Open Access Journals)
locations[1].source.host_organization
locations[1].source.host_organization_name
locations[1].license	cc-by-sa
locations[1].pdf_url
locations[1].version	submittedVersion
locations[1].raw_type	article
locations[1].license_id	https://openalex.org/licenses/cc-by-sa
locations[1].is_accepted	False
locations[1].is_published	False
locations[1].raw_source_name	Applied Sciences, Vol 10, Iss 8, p 2699 (2020)
locations[1].landing_page_url	https://doaj.org/article/1dfd007a1e2742328c59b3554ebde4d8
locations[2].id	pmh:oai:mdpi.com:/2076-3417/10/8/2699/
locations[2].is_oa	True
locations[2].source.id	https://openalex.org/S4306400947
locations[2].source.issn
locations[2].source.type	repository
locations[2].source.is_oa	True
locations[2].source.issn_l
locations[2].source.is_core	False
locations[2].source.is_in_doaj	False
locations[2].source.display_name	MDPI (MDPI AG)
locations[2].source.host_organization	https://openalex.org/I4210097602
locations[2].source.host_organization_name	Multidisciplinary Digital Publishing Institute (Switzerland)
locations[2].source.host_organization_lineage	https://openalex.org/I4210097602
locations[2].license	cc-by
locations[2].pdf_url
locations[2].version	submittedVersion
locations[2].raw_type	Text
locations[2].license_id	https://openalex.org/licenses/cc-by
locations[2].is_accepted	False
locations[2].is_published	False
locations[2].raw_source_name	Applied Sciences
locations[2].landing_page_url	http://dx.doi.org/10.3390/app10082699
locations[3].id	pmh:oai:tkuir.lib.tku.edu.tw:987654321/119349
locations[3].is_oa	False
locations[3].source
locations[3].license
locations[3].pdf_url
locations[3].version	submittedVersion
locations[3].raw_type	Journal Article
locations[3].license_id
locations[3].is_accepted	False
locations[3].is_published	False
locations[3].raw_source_name
locations[3].landing_page_url	https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/119349
indexed_in	crossref, doaj
authorships[0].author.id	https://openalex.org/A5018955034
authorships[0].author.orcid	https://orcid.org/0000-0002-1284-9840
authorships[0].author.display_name	Chih‐Cheng Liu
authorships[0].countries	TW
authorships[0].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[0].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[0].institutions[0].id	https://openalex.org/I107470533
authorships[0].institutions[0].ror	https://ror.org/04tft4718
authorships[0].institutions[0].type	education
authorships[0].institutions[0].lineage	https://openalex.org/I107470533
authorships[0].institutions[0].country_code	TW
authorships[0].institutions[0].display_name	Tamkang University
authorships[0].author_position	first
authorships[0].raw_author_name	Chih-Cheng Liu
authorships[0].is_corresponding	False
authorships[0].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[1].author.id	https://openalex.org/A5000575684
authorships[1].author.orcid
authorships[1].author.display_name	Tsu‐Tian Lee
authorships[1].countries	TW
authorships[1].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[1].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[1].institutions[0].id	https://openalex.org/I107470533
authorships[1].institutions[0].ror	https://ror.org/04tft4718
authorships[1].institutions[0].type	education
authorships[1].institutions[0].lineage	https://openalex.org/I107470533
authorships[1].institutions[0].country_code	TW
authorships[1].institutions[0].display_name	Tamkang University
authorships[1].author_position	middle
authorships[1].raw_author_name	Tsu-Tian Lee
authorships[1].is_corresponding	False
authorships[1].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[2].author.id	https://openalex.org/A5063869664
authorships[2].author.orcid
authorships[2].author.display_name	Sheng-Ru Xiao
authorships[2].countries	TW
authorships[2].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[2].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[2].institutions[0].id	https://openalex.org/I107470533
authorships[2].institutions[0].ror	https://ror.org/04tft4718
authorships[2].institutions[0].type	education
authorships[2].institutions[0].lineage	https://openalex.org/I107470533
authorships[2].institutions[0].country_code	TW
authorships[2].institutions[0].display_name	Tamkang University
authorships[2].author_position	middle
authorships[2].raw_author_name	Sheng-Ru Xiao
authorships[2].is_corresponding	False
authorships[2].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[3].author.id	https://openalex.org/A5058441595
authorships[3].author.orcid	https://orcid.org/0000-0002-0352-2694
authorships[3].author.display_name	Yi‐Chung Lin
authorships[3].countries	TW
authorships[3].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[3].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[3].institutions[0].id	https://openalex.org/I107470533
authorships[3].institutions[0].ror	https://ror.org/04tft4718
authorships[3].institutions[0].type	education
authorships[3].institutions[0].lineage	https://openalex.org/I107470533
authorships[3].institutions[0].country_code	TW
authorships[3].institutions[0].display_name	Tamkang University
authorships[3].author_position	middle
authorships[3].raw_author_name	Yi-Chung Lin
authorships[3].is_corresponding	False
authorships[3].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[4].author.id	https://openalex.org/A5108038517
authorships[4].author.orcid	https://orcid.org/0000-0003-2017-190X
authorships[4].author.display_name	Yiyang Lin
authorships[4].countries	TW
authorships[4].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[4].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[4].institutions[0].id	https://openalex.org/I107470533
authorships[4].institutions[0].ror	https://ror.org/04tft4718
authorships[4].institutions[0].type	education
authorships[4].institutions[0].lineage	https://openalex.org/I107470533
authorships[4].institutions[0].country_code	TW
authorships[4].institutions[0].display_name	Tamkang University
authorships[4].author_position	middle
authorships[4].raw_author_name	Yi-Yang Lin
authorships[4].is_corresponding	False
authorships[4].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[5].author.id	https://openalex.org/A5037232729
authorships[5].author.orcid	https://orcid.org/0000-0003-1095-728X
authorships[5].author.display_name	Ching‐Chang Wong
authorships[5].countries	TW
authorships[5].affiliations[0].institution_ids	https://openalex.org/I107470533
authorships[5].affiliations[0].raw_affiliation_string	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
authorships[5].institutions[0].id	https://openalex.org/I107470533
authorships[5].institutions[0].ror	https://ror.org/04tft4718
authorships[5].institutions[0].type	education
authorships[5].institutions[0].lineage	https://openalex.org/I107470533
authorships[5].institutions[0].country_code	TW
authorships[5].institutions[0].display_name	Tamkang University
authorships[5].author_position	last
authorships[5].raw_author_name	Ching-Chang Wong
authorships[5].is_corresponding	True
authorships[5].raw_affiliation_strings	Department of Electrical and Computer Engineering, Tamkang University, New Taipei City 25137, Taiwan
has_content.pdf	True
has_content.grobid_xml	True
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013
open_access.oa_status	gold
open_access.any_repository_has_fulltext	False
created_date	2025-10-10T00:00:00
display_name	Real-Time FPGA-Based Balance Control Method for a Humanoid Robot Pushed by External Forces
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T03:46:38.306776
primary_topic.id	https://openalex.org/T10879
primary_topic.field.id	https://openalex.org/fields/22
primary_topic.field.display_name	Engineering
primary_topic.score	1.0
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/2204
primary_topic.subfield.display_name	Biomedical Engineering
primary_topic.display_name	Robotic Locomotion and Control
related_works	https://openalex.org/W2168647525, https://openalex.org/W1829175078, https://openalex.org/W2133801610, https://openalex.org/W2130383927, https://openalex.org/W2606527650, https://openalex.org/W2120357486, https://openalex.org/W2151003079, https://openalex.org/W2170918662, https://openalex.org/W1859914877, https://openalex.org/W2163503851
cited_by_count	6
counts_by_year[0].year	2025
counts_by_year[0].cited_by_count	1
counts_by_year[1].year	2024
counts_by_year[1].cited_by_count	1
counts_by_year[2].year	2023
counts_by_year[2].cited_by_count	2
counts_by_year[3].year	2021
counts_by_year[3].cited_by_count	1
counts_by_year[4].year	2020
counts_by_year[4].cited_by_count	1
locations_count	4
best_oa_location.id	doi:10.3390/app10082699
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4210205812
best_oa_location.source.issn	2076-3417
best_oa_location.source.type	journal
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l	2076-3417
best_oa_location.source.is_core	True
best_oa_location.source.is_in_doaj	True
best_oa_location.source.display_name	Applied Sciences
best_oa_location.source.host_organization	https://openalex.org/P4310310987
best_oa_location.source.host_organization_name	Multidisciplinary Digital Publishing Institute
best_oa_location.source.host_organization_lineage	https://openalex.org/P4310310987
best_oa_location.source.host_organization_lineage_names	Multidisciplinary Digital Publishing Institute
best_oa_location.license	cc-by
best_oa_location.pdf_url	https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013
best_oa_location.version	publishedVersion
best_oa_location.raw_type	journal-article
best_oa_location.license_id	https://openalex.org/licenses/cc-by
best_oa_location.is_accepted	True
best_oa_location.is_published	True
best_oa_location.raw_source_name	Applied Sciences
best_oa_location.landing_page_url	https://doi.org/10.3390/app10082699
primary_location.id	doi:10.3390/app10082699
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4210205812
primary_location.source.issn	2076-3417
primary_location.source.type	journal
primary_location.source.is_oa	True
primary_location.source.issn_l	2076-3417
primary_location.source.is_core	True
primary_location.source.is_in_doaj	True
primary_location.source.display_name	Applied Sciences
primary_location.source.host_organization	https://openalex.org/P4310310987
primary_location.source.host_organization_name	Multidisciplinary Digital Publishing Institute
primary_location.source.host_organization_lineage	https://openalex.org/P4310310987
primary_location.source.host_organization_lineage_names	Multidisciplinary Digital Publishing Institute
primary_location.license	cc-by
primary_location.pdf_url	https://www.mdpi.com/2076-3417/10/8/2699/pdf?version=1586857013
primary_location.version	publishedVersion
primary_location.raw_type	journal-article
primary_location.license_id	https://openalex.org/licenses/cc-by
primary_location.is_accepted	True
primary_location.is_published	True
primary_location.raw_source_name	Applied Sciences
primary_location.landing_page_url	https://doi.org/10.3390/app10082699
publication_date	2020-04-14
publication_year	2020
referenced_works	https://openalex.org/W2154748236, https://openalex.org/W1982747085, https://openalex.org/W2791520444, https://openalex.org/W2037729465, https://openalex.org/W2002081974, https://openalex.org/W2772957955, https://openalex.org/W1987580649, https://openalex.org/W2969249610, https://openalex.org/W2133859362, https://openalex.org/W2976032235, https://openalex.org/W2042204524, https://openalex.org/W2158850911, https://openalex.org/W2117341267, https://openalex.org/W2002803749, https://openalex.org/W2891303851, https://openalex.org/W2906258454, https://openalex.org/W2947413494, https://openalex.org/W2539534359, https://openalex.org/W2079995373, https://openalex.org/W2806078540, https://openalex.org/W2953646322, https://openalex.org/W2155520728, https://openalex.org/W2751658666, https://openalex.org/W1968140153, https://openalex.org/W2802902754
referenced_works_count	25
abstract_inverted_index.A	79, 119
abstract_inverted_index.a	3, 13, 20, 124, 131, 151
abstract_inverted_index.In	0, 24, 143
abstract_inverted_index.an	82, 102, 105
abstract_inverted_index.be	111
abstract_inverted_index.by	76
abstract_inverted_index.is	8, 53, 74, 97, 127
abstract_inverted_index.it	61, 73, 114
abstract_inverted_index.of	91, 101
abstract_inverted_index.on	12, 55
abstract_inverted_index.so	59
abstract_inverted_index.to	65, 86, 115, 129, 139, 156, 166, 180, 184
abstract_inverted_index.(1)	34
abstract_inverted_index.(2)	38
abstract_inverted_index.(3)	43
abstract_inverted_index.(4)	47
abstract_inverted_index.The	50
abstract_inverted_index.and	10, 46, 81
abstract_inverted_index.are	31, 84, 154, 164
abstract_inverted_index.can	62, 175
abstract_inverted_index.for	19
abstract_inverted_index.its	117, 141, 182
abstract_inverted_index.may	110
abstract_inverted_index.the	25, 56, 67, 88, 92, 95, 99, 135, 145, 158, 169, 178
abstract_inverted_index.FPGA	57
abstract_inverted_index.Some	161
abstract_inverted_index.When	94
abstract_inverted_index.chip	18, 58
abstract_inverted_index.four	32
abstract_inverted_index.gate	15
abstract_inverted_index.keep	66, 181
abstract_inverted_index.lose	116
abstract_inverted_index.plan	157
abstract_inverted_index.push	39
abstract_inverted_index.step	138
abstract_inverted_index.that	60, 168
abstract_inverted_index.this	1
abstract_inverted_index.used	85
abstract_inverted_index.when	72
abstract_inverted_index.with	123, 150
abstract_inverted_index.angle	90, 109
abstract_inverted_index.array	16
abstract_inverted_index.avoid	185
abstract_inverted_index.down.	187
abstract_inverted_index.force	36
abstract_inverted_index.large	107
abstract_inverted_index.model	126
abstract_inverted_index.point	133
abstract_inverted_index.robot	70, 96, 136, 179
abstract_inverted_index.there	30
abstract_inverted_index.under	98
abstract_inverted_index.where	134
abstract_inverted_index.(CPGs)	149
abstract_inverted_index.(FPGA)	17
abstract_inverted_index.action	100
abstract_inverted_index.detect	87
abstract_inverted_index.enable	177
abstract_inverted_index.force,	104
abstract_inverted_index.linear	120
abstract_inverted_index.method	7, 52, 174
abstract_inverted_index.paper,	2
abstract_inverted_index.pushed	75
abstract_inverted_index.robot.	23, 93
abstract_inverted_index.should	137
abstract_inverted_index.adopted	155
abstract_inverted_index.balance	5, 27, 41, 172, 183
abstract_inverted_index.capture	132
abstract_inverted_index.causing	113
abstract_inverted_index.central	146
abstract_inverted_index.control	6, 28, 173
abstract_inverted_index.falling	186
abstract_inverted_index.forces.	78
abstract_inverted_index.inverse	48
abstract_inverted_index.pattern	147
abstract_inverted_index.quickly	63
abstract_inverted_index.respond	64
abstract_inverted_index.results	163
abstract_inverted_index.balance.	118, 142
abstract_inverted_index.balanced	71
abstract_inverted_index.control,	42
abstract_inverted_index.designed	9
abstract_inverted_index.employed	128
abstract_inverted_index.estimate	130
abstract_inverted_index.external	35, 77, 103
abstract_inverted_index.flywheel	125
abstract_inverted_index.function	153
abstract_inverted_index.humanoid	22, 69
abstract_inverted_index.inverted	121
abstract_inverted_index.maintain	140
abstract_inverted_index.modules:	33
abstract_inverted_index.pendulum	122
abstract_inverted_index.proposed	26, 51, 170
abstract_inverted_index.recovery	40
abstract_inverted_index.stepping	159
abstract_inverted_index.addition,	144
abstract_inverted_index.gyroscope	80
abstract_inverted_index.planning,	45
abstract_inverted_index.presented	165
abstract_inverted_index.produced,	112
abstract_inverted_index.real-time	4, 171
abstract_inverted_index.detection,	37
abstract_inverted_index.generators	148
abstract_inverted_index.illustrate	167
abstract_inverted_index.sinusoidal	152
abstract_inverted_index.structure,	29
abstract_inverted_index.trajectory	44
abstract_inverted_index.effectively	176
abstract_inverted_index.excessively	106
abstract_inverted_index.implemented	11, 54
abstract_inverted_index.inclination	89, 108
abstract_inverted_index.kinematics.	49
abstract_inverted_index.small-sized	21, 68
abstract_inverted_index.experimental	162
abstract_inverted_index.accelerometer	83
abstract_inverted_index.trajectories.	160
abstract_inverted_index.field-programmable	14
cited_by_percentile_year.max	96
cited_by_percentile_year.min	89
corresponding_author_ids	https://openalex.org/A5037232729
countries_distinct_count	1
institutions_distinct_count	6
corresponding_institution_ids	https://openalex.org/I107470533
citation_normalized_percentile.value	0.54509525
citation_normalized_percentile.is_in_top_1_percent	False
citation_normalized_percentile.is_in_top_10_percent	False