Evidence map›Paper›PMID 30220783›Full record

ArticleProceedings of the ... American Control Conference. American Control Conference2018

Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots.

Mark R Yeatman, Ge Lv, Robert D Gregg

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Proceedings of the ... American Control Conference. American Control Conference, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

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.

2 · The registry

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.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

3 authors.

Mark R YeatmanDepartment of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.
Ge LvDepartment of Electrical Engineering and Bioengineering, University of Texas at Dallas, Richardson, TX 75080, USA.
Robert D GreggDepartment of Bioengineering and Mechanical Engineering, University of Texas at Dallas, Richardson, TX 75080, USA.

Funding

PHASE-BASED CONTROL OF LOCOMOTION FOR HIGH-PERFORMANCE PROSTHESES AND ORTHOSESDP2HD080349 · NICHD · UNIVERSITY OF TEXAS DALLAS · PI GREGG, ROBERT D · 2013 to 2013
$2.3M
NICHD NIH HHS DP2 HD080349
6 · The paper itself

Abstract

This paper offers a novel generalization of a passivity-based, energy tracking controller for robust bipedal walking. Past work has shown that a biped limit cycle with a known, constant mechanical energy can be made robust to uneven terrains and disturbances by actively driving energy to that reference. However, the assumption of a known, constant mechanical energy has limited application of this passivity-based method to simple toy models (often passive walkers). The method presented in this paper allows the passivity-based controller to be used in combination with an arbitrary inner-loop control that creates a limit cycle with a constant

Identifiers

PMID30220783
PMCPMC6135528

What OpenQuestion holds

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Registered trials

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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.