Evidence map›Paper›PMID 30778276›Full record

ArticleProceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control2018

Hybrid Nonlinear Disturbance Observer Design for Underactuated Bipedal Robots.

Alireza Mohammadi, Seyed Fakoorian, Jonathan C Horn, Dan Simon, Robert D Gregg

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control, 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

5 authors.

Alireza MohammadiDepartments of Bioengineering and Mechanical Engineering at the University of Texas, alireza.mohammadi@ieee.org.
Seyed FakoorianDepartment of Electrical & Computer Engineering, Cleveland State University, Ohio, s.fakoorian@csuohio.edu.
Jonathan C HornDepartments of Bioengineering and Mechanical Engineering at the University of Texas, jch160630@utdallas.edu.
Dan SimonDepartment of Electrical & Computer Engineering, Cleveland State University, Ohio, d.j.simon@csuohio.edu.
Robert D GreggDepartments of Bioengineering and Mechanical Engineering at the University of Texas, rgregg@ieee.org.

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

Existence of disturbances in unknown environments is a pervasive challenge in robotic locomotion control. Disturbance observers are a class of unknown input observers that have been extensively used for disturbance rejection in numerous robotics applications. In this paper, we extend a class of widely-used nonlinear disturbance observers to underactuated bipedal robots, which are controlled using hybrid zero dynamics-based control schemes. The proposed hybrid nonlinear disturbance observer provides the autonomous biped robot control system with disturbance rejection capabilities, while the underlying hybrid zero-dynamics based control law remains intact.

Identifiers

PMID30778276
PMCPMC6377174

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.