{"id":"https://openalex.org/W2512603523","doi":"https://doi.org/10.1007/978-3-319-29363-9_36","title":"Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking","display_name":"Hybrid System Identification via Switched System Optimal Control for Bipedal Robotic Walking","publication_year":2016,"publication_date":"2016-08-25","ids":{"openalex":"https://openalex.org/W2512603523","doi":"https://doi.org/10.1007/978-3-319-29363-9_36","mag":"2512603523"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-319-29363-9_36","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-29363-9_36","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},"type":"book-chapter","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/A5053632225","display_name":"Ram Vasudevan","orcid":"https://orcid.org/0000-0003-1978-0572"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ram Vasudevan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, 48109, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5053632225"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":3.8943,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.94092704,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"635","last_page":"650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9973000288009644,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5570449233055115},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5459276437759399},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4964213967323303},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4822595715522766},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.43819254636764526},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4379828870296478},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4339856803417206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3862338662147522},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35304975509643555},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3106008768081665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1449393630027771},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.11889705061912537}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5570449233055115},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5459276437759399},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4964213967323303},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4822595715522766},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.43819254636764526},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4379828870296478},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4339856803417206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3862338662147522},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35304975509643555},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3106008768081665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1449393630027771},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.11889705061912537},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-319-29363-9_36","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-319-29363-9_36","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W1504362584","https://openalex.org/W1537335979","https://openalex.org/W1564897360","https://openalex.org/W1578969866","https://openalex.org/W1639534865","https://openalex.org/W1977031597","https://openalex.org/W1981087314","https://openalex.org/W1995257852","https://openalex.org/W1996763811","https://openalex.org/W2001556607","https://openalex.org/W2018720577","https://openalex.org/W2034579881","https://openalex.org/W2053686325","https://openalex.org/W2060333238","https://openalex.org/W2090365650","https://openalex.org/W2099473122","https://openalex.org/W2101959596","https://openalex.org/W2109407178","https://openalex.org/W2112169448","https://openalex.org/W2114115207","https://openalex.org/W2118712229","https://openalex.org/W2120024686","https://openalex.org/W2132129082","https://openalex.org/W2137547873","https://openalex.org/W2148599741","https://openalex.org/W2161636262","https://openalex.org/W2168055157","https://openalex.org/W2169195613","https://openalex.org/W2381269752","https://openalex.org/W3102865626","https://openalex.org/W4246616525","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2898732673","https://openalex.org/W2382161936","https://openalex.org/W176335707","https://openalex.org/W2617168346","https://openalex.org/W1996964737","https://openalex.org/W2664385262","https://openalex.org/W3168201988","https://openalex.org/W148906287","https://openalex.org/W1554268079","https://openalex.org/W2362051921"],"abstract_inverted_index":null,"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}