ArticleControl Technology and Applications. Control Technology and Applications2017
Removing Phase Variables from Biped Robot Parametric Gaits.
Article in Control Technology and Applications. Control Technology and Applications, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
What it found
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
The trial behind it
Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
2 citing papers in PubMed.
- Variable Impedance Control of Powered Knee Prostheses Using Human-Inspired Algebraic Curves.Journal of computational and nonlinear dynamics · 2019Article
- HUMAN-INSPIRED ALGEBRAIC CURVES FOR WEARABLE ROBOT CONTROL.Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference · 2018Article
Corrections and comments
PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.
Authors and funding
3 authors.
Funding
Abstract
Hybrid zero dynamics-based control is a promising framework for controlling underactuated biped robots and powered prosthetic legs. In this control paradigm, stable walking gaits are implicitly encoded in polynomial output functions of the robot configuration variables, which are to be zeroed via feedback. The biped output functions are parameterized by a suitable mechanical phasing variable whose evolution determines the biped gait progression during each step. Determining a proper phase variable, however, might not always be a trivial task. In this paper, we present a method for generating output functions from given parametric walking gaits without any explicit knowledge of the phase variables. Our elimination method is based on computing the resultant of polynomials, an algebraic tool widely used in computer algebra.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.