{"id":"https://openalex.org/W2591770694","doi":"https://doi.org/10.1007/s10846-017-0508-7","title":"The Reaction Mass Biped: Geometric Mechanics and Control","display_name":"The Reaction Mass Biped: Geometric Mechanics and Control","publication_year":2017,"publication_date":"2017-02-28","ids":{"openalex":"https://openalex.org/W2591770694","doi":"https://doi.org/10.1007/s10846-017-0508-7","mag":"2591770694"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-017-0508-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0508-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","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/A5012526737","display_name":"Avinash Siravuru","orcid":"https://orcid.org/0000-0003-0372-5413"},"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":true,"raw_author_name":"Avinash Siravuru","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213, USA"],"raw_orcid":"https://orcid.org/0000-0003-0372-5413","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039435200","display_name":"Sasi Prabhakaran Viswanathan","orcid":null},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sasi P. Viswanathan","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, 13244, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, 13244, USA","institution_ids":["https://openalex.org/I70983195"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"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":"Koushil Sreenath","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079524565","display_name":"Amit K. Sanyal","orcid":"https://orcid.org/0000-0002-3258-7841"},"institutions":[{"id":"https://openalex.org/I70983195","display_name":"Syracuse University","ror":"https://ror.org/025r5qe02","country_code":"US","type":"education","lineage":["https://openalex.org/I70983195"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amit K. Sanyal","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, 13244, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Syracuse University, Syracuse, NY, 13244, USA","institution_ids":["https://openalex.org/I70983195"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5012526737"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":null,"fwci":0.525,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.63305687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"89","issue":"1-2","first_page":"155","last_page":"173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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":0.9976000189781189,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9973000288009644,"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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9894999861717224,"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/variational-integrator","display_name":"Variational integrator","score":0.672673225402832},{"id":"https://openalex.org/keywords/geometric-mechanics","display_name":"Geometric mechanics","score":0.668520450592041},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6486232876777649},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6314021348953247},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5203254222869873},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5107036232948303},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4490984082221985},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.4348946213722229},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4334902763366699},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43130791187286377},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43108758330345154},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.42113515734672546},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4067584276199341},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.27791735529899597},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24615904688835144},{"id":"https://openalex.org/keywords/analytical-mechanics","display_name":"Analytical mechanics","score":0.1982405185699463},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16367241740226746},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.14423450827598572},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1404440999031067}],"concepts":[{"id":"https://openalex.org/C52154503","wikidata":"https://www.wikidata.org/wiki/Q7915797","display_name":"Variational integrator","level":4,"score":0.672673225402832},{"id":"https://openalex.org/C206444204","wikidata":"https://www.wikidata.org/wiki/Q17086162","display_name":"Geometric mechanics","level":5,"score":0.668520450592041},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6486232876777649},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6314021348953247},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5203254222869873},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5107036232948303},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4490984082221985},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.4348946213722229},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4334902763366699},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43130791187286377},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43108758330345154},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.42113515734672546},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4067584276199341},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.27791735529899597},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24615904688835144},{"id":"https://openalex.org/C206183056","wikidata":"https://www.wikidata.org/wiki/Q833065","display_name":"Analytical mechanics","level":4,"score":0.1982405185699463},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16367241740226746},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.14423450827598572},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1404440999031067},{"id":"https://openalex.org/C15184713","wikidata":"https://www.wikidata.org/wiki/Q7269042","display_name":"Quantum dynamics","level":3,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C84114770","wikidata":"https://www.wikidata.org/wiki/Q46344","display_name":"Quantum","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-017-0508-7","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-017-0508-7","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3399882757","display_name":null,"funder_award_id":"1526515","funder_id":"https://openalex.org/F4320337389","funder_display_name":"Division of Information and Intelligent Systems"},{"id":"https://openalex.org/G4560377802","display_name":null,"funder_award_id":"1464337","funder_id":"https://openalex.org/F4320337389","funder_display_name":"Division of Information and Intelligent Systems"}],"funders":[{"id":"https://openalex.org/F4320337389","display_name":"Division of Information and Intelligent Systems","ror":"https://ror.org/053a2cp42"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1530693820","https://openalex.org/W1538183267","https://openalex.org/W1596567109","https://openalex.org/W1709064880","https://openalex.org/W1964007058","https://openalex.org/W1973118936","https://openalex.org/W1974060221","https://openalex.org/W1979009520","https://openalex.org/W1999726309","https://openalex.org/W2009317155","https://openalex.org/W2018431869","https://openalex.org/W2061356302","https://openalex.org/W2068357552","https://openalex.org/W2079559070","https://openalex.org/W2083876657","https://openalex.org/W2086979750","https://openalex.org/W2087364755","https://openalex.org/W2117070854","https://openalex.org/W2117453669","https://openalex.org/W2133859362","https://openalex.org/W2136908593","https://openalex.org/W2139612757","https://openalex.org/W2144144709","https://openalex.org/W2151182239","https://openalex.org/W2158958880","https://openalex.org/W2169738905","https://openalex.org/W2170039048","https://openalex.org/W2325414148","https://openalex.org/W2381269752","https://openalex.org/W2604213426","https://openalex.org/W2963433675"],"related_works":["https://openalex.org/W1999624973","https://openalex.org/W2034167671","https://openalex.org/W2089486152","https://openalex.org/W2044381081","https://openalex.org/W2072585239","https://openalex.org/W2013417898","https://openalex.org/W2054208182","https://openalex.org/W2083059311","https://openalex.org/W1542334755","https://openalex.org/W1586516333"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}