{"id":"https://openalex.org/W2804790641","doi":"https://doi.org/10.1109/mra.2017.2783922","title":"Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped","display_name":"Walking and Running with Passive Compliance: Lessons from Engineering: A Live Demonstration of the ATRIAS Biped","publication_year":2018,"publication_date":"2018-05-16","ids":{"openalex":"https://openalex.org/W2804790641","doi":"https://doi.org/10.1109/mra.2017.2783922","mag":"2804790641"},"language":"en","primary_location":{"id":"doi:10.1109/mra.2017.2783922","doi":"https://doi.org/10.1109/mra.2017.2783922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2783922","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics &amp; Automation Magazine","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5033990176","display_name":"Christian M. Hubicki","orcid":"https://orcid.org/0000-0002-2092-3772","observed_orcids":["https://orcid.org/0000-0002-2092-3772"]},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Hubicki","raw_affiliation_strings":["Georgia Institute of Technology, Atlanta, Georgia 30318 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Georgia Institute of Technology, Atlanta, Georgia 30318 United States","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064101297","display_name":"Andy Abate","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andy Abate","raw_affiliation_strings":["Oregon State University, Corvallis, Oregon 97331 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University, Corvallis, Oregon 97331 United States","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083303761","display_name":"Patrick Clary","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick Clary","raw_affiliation_strings":["Oregon State University, Corvallis, Oregon 97331 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University, Corvallis, Oregon 97331 United States","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065372242","display_name":"Siavash Rezazadeh","orcid":"https://orcid.org/0000-0002-0312-3167","observed_orcids":["https://orcid.org/0000-0002-0312-3167"]},"institutions":[{"id":"https://openalex.org/I162577319","display_name":"The University of Texas at Dallas","ror":"https://ror.org/049emcs32","country_code":"US","type":"education","lineage":["https://openalex.org/I162577319"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Siavash Rezazadeh","raw_affiliation_strings":["University of Texas at Dallas, Texas 75001 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Dallas, Texas 75001 United States","institution_ids":["https://openalex.org/I162577319"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042455089","display_name":"Mikhail S. Jones","orcid":null,"observed_orcids":[]},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mikhail Jones","raw_affiliation_strings":["Agility Robotics, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Agility Robotics, United States","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037485141","display_name":"Andrew Peekema","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I134315382","display_name":"Honeybee Robotics (United States)","ror":"https://ror.org/01yhhvk26","country_code":"US","type":"company","lineage":["https://openalex.org/I134315382"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrew Peekema","raw_affiliation_strings":["Honeybee Robotics, United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honeybee Robotics, United States","institution_ids":["https://openalex.org/I134315382"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035384085","display_name":"Johnathan Van Why","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I4210128969","display_name":"Alphabet (United States)","ror":"https://ror.org/02e9yx751","country_code":"US","type":"company","lineage":["https://openalex.org/I4210128969"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Johnathan Van Why","raw_affiliation_strings":["Alphabet Inc., United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Alphabet Inc., United States","institution_ids":["https://openalex.org/I4210128969"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014498974","display_name":"Ryan Domres","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ryan Domres","raw_affiliation_strings":["Oregon State University, Corvallis, Oregon 97331 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University, Corvallis, Oregon 97331 United States","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089508535","display_name":"Albert Wu","orcid":"https://orcid.org/0009-0003-9235-2301","observed_orcids":["https://orcid.org/0009-0003-9235-2301","https://orcid.org/0000-0003-1894-8716"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert Wu","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":null,"display_name":"William Martin","orcid":"https://orcid.org/0000-0003-0940-1620","observed_orcids":["https://orcid.org/0000-0003-0940-1620"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Martin","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States"],"raw_orcid":"https://orcid.org/0000-0003-0940-1620","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078844630","display_name":"Hartmut Geyer","orcid":"https://orcid.org/0000-0003-3238-3299","observed_orcids":["https://orcid.org/0000-0003-3238-3299"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hartmut Geyer","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States"],"raw_orcid":"https://orcid.org/0000-0003-3238-3299","affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, Pennsylvania 15213 United States","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026407792","display_name":"JONATHAN W. HURST","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan Hurst","raw_affiliation_strings":["Oregon State University, Corvallis, Oregon 97331 United States"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Oregon State University, Corvallis, Oregon 97331 United States","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2045,"currency":"USD","value_usd":2045},"apc_paid":null,"fwci":5.1905,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.96057791,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"25","issue":"3","first_page":"23","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/passive-compliance","display_name":"passive compliance","score":0.5350000262260437},{"id":"https://openalex.org/keywords/passive-dynamics","display_name":"passive dynamics","score":0.8799999952316284},{"id":"https://openalex.org/keywords/bipedal-locomotion","display_name":"bipedalism","score":0.8989999890327454},{"id":"https://openalex.org/keywords/walking-and-running","display_name":"walking and running","score":0.7250000238418579},{"id":"https://openalex.org/keywords/mechanical-compliance","display_name":"mechanical compliance","score":0.6800000071525574},{"id":"https://openalex.org/keywords/controller-design","display_name":"controller design","score":0.4830000102519989},{"id":"https://openalex.org/keywords/rapid-prototyping","display_name":"rapid prototyping","score":0.5910000205039978},{"id":"https://openalex.org/keywords/legged-robots","display_name":"legged robots","score":0.45100000500679016},{"id":"https://openalex.org/keywords/bioinspired-robotics","display_name":"bio-inspired robotics","score":0.42800000309944153}],"concepts":[{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.6613239645957947},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6412657499313354},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6146126985549927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5832624435424805},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5826897621154785},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5532688498497009},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4786625802516937},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.463748037815094},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46373358368873596},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.46157655119895935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4512256681919098},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44949835538864136},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31815093755722046},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29156047105789185},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2372342348098755},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22551119327545166},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mra.2017.2783922","doi":"https://doi.org/10.1109/mra.2017.2783922","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mra.2017.2783922","pdf_url":null,"source":{"id":"https://openalex.org/S132261465","display_name":"IEEE Robotics & Automation Magazine","issn_l":"1070-9932","issn":["1070-9932","1558-223X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","jufo-2","norway-1","poland-140","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics &amp; Automation Magazine","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":53,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W221488859","https://openalex.org/W1492794416","https://openalex.org/W1551225373","https://openalex.org/W1582616166","https://openalex.org/W1585188717","https://openalex.org/W1602448039","https://openalex.org/W1607633572","https://openalex.org/W1619551699","https://openalex.org/W1820821744","https://openalex.org/W1898154573","https://openalex.org/W1941843239","https://openalex.org/W1945123189","https://openalex.org/W1981717102","https://openalex.org/W1989665388","https://openalex.org/W1989901771","https://openalex.org/W1993314711","https://openalex.org/W2003013030","https://openalex.org/W2003132288","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2022781970","https://openalex.org/W2022971533","https://openalex.org/W2023392182","https://openalex.org/W2029058516","https://openalex.org/W2037729465","https://openalex.org/W2038873597","https://openalex.org/W2041168383","https://openalex.org/W2061652504","https://openalex.org/W2063805130","https://openalex.org/W2105676390","https://openalex.org/W2107149337","https://openalex.org/W2120420464","https://openalex.org/W2128131727","https://openalex.org/W2129224530","https://openalex.org/W2133859362","https://openalex.org/W2137152508","https://openalex.org/W2138671676","https://openalex.org/W2139114957","https://openalex.org/W2144351850","https://openalex.org/W2153929920","https://openalex.org/W2161427949","https://openalex.org/W2161643831","https://openalex.org/W2163668399","https://openalex.org/W2169357327","https://openalex.org/W2169470463","https://openalex.org/W2170217103","https://openalex.org/W2239166089","https://openalex.org/W2415959992","https://openalex.org/W6636162268","https://openalex.org/W6640770417","https://openalex.org/W6655958487","https://openalex.org/W6690111641"],"related_works":["https://openalex.org/W2751321470","https://openalex.org/W7099646033","https://openalex.org/W2293019713","https://openalex.org/W2686637839","https://openalex.org/W2110457433","https://openalex.org/W2239166089","https://openalex.org/W2117235898","https://openalex.org/W2036607116","https://openalex.org/W2087255000","https://openalex.org/W2028348890"],"abstract_inverted_index":{"Biological":[0],"bipeds":[1],"have":[2],"long":[3],"been":[4,26],"thought":[5],"to":[6,14,42,83],"take":[7,43],"advantage":[8,44],"of":[9,45,55,68,98],"compliance":[10,58],"and":[11,16,71,81,96],"passive":[12,79],"dynamics":[13,80],"walk":[15],"run,":[17],"but":[18],"realizing":[19],"robotic":[20],"locomotion":[21],"in":[22,28],"this":[23,62],"fashion":[24],"has":[25],"difficult":[27],"practice.":[29],"Assume":[30],"The":[31],"Robot":[32],"Is":[33],"A":[34],"Sphere":[35],"(ATRIAS)":[36],"is":[37],"a":[38,53],"bipedal":[39],"robot":[40],"designed":[41],"the":[46,66,69,76,93],"inherent":[47],"stabilizing":[48],"effects":[49],"that":[50],"emerge":[51],"as":[52],"result":[54],"tuned":[56],"mechanical":[57],"(Table":[59],"1).":[60],"In":[61],"article,":[63],"we":[64],"describe":[65],"mechanics":[67],"biped":[70],"how":[72],"our":[73,89,99],"controller":[74],"exploits":[75],"interplay":[77],"between":[78],"actuation":[82],"achieve":[84],"robust":[85],"locomotion.":[86],"We":[87],"outline":[88],"development":[90],"process":[91],"for":[92],"incremental":[94],"design":[95],"testing":[97],"controllers":[100],"through":[101],"rapid":[102],"iteration.":[103]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":4}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2018-06-01T00:00:00"}
