{"id":"https://openalex.org/W2111527309","doi":"https://doi.org/10.1017/s0263574702004290","title":"Dynamic bipedal walking assisted by learning","display_name":"Dynamic bipedal walking assisted by learning","publication_year":2002,"publication_date":"2002-09-01","ids":{"openalex":"https://openalex.org/W2111527309","doi":"https://doi.org/10.1017/s0263574702004290","mag":"2111527309"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574702004290","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004290","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/88863","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073468340","display_name":"Chee\u2013Meng Chew","orcid":"https://orcid.org/0000-0002-6396-4371"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chee-Meng Chew","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260","Department of Mechanical Engineering, National University of Singapore 10 Kent Ridge Crescent, Singapore 119260"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore 10 Kent Ridge Crescent, Singapore 119260","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039749767","display_name":"Gill A. Pratt","orcid":null},"institutions":[{"id":"https://openalex.org/I137428128","display_name":"Franklin W. Olin College of Engineering","ror":"https://ror.org/000zamq06","country_code":"US","type":"education","lineage":["https://openalex.org/I137428128"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gill A. Pratt","raw_affiliation_strings":["F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA","F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA","institution_ids":["https://openalex.org/I137428128"]},{"raw_affiliation_string":"F.W. Olin College of Engineering, 1735 Great Plain Ave., Needham, MA 02492\u20131245 (USA)#TAB#","institution_ids":["https://openalex.org/I137428128"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.6237,"has_fulltext":false,"cited_by_count":63,"citation_normalized_percentile":{"value":0.8958008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"20","issue":"5","first_page":"477","last_page":"491"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991999864578247,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9987999796867371,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.7067520618438721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6177765727043152},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5694776773452759},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5624246001243591},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5318536162376404},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4982624053955078},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4918830394744873},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4633306562900543},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.45393478870391846},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4196474850177765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4050154685974121},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37990802526474},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3768150210380554},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2611752152442932}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.7067520618438721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6177765727043152},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5694776773452759},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5624246001243591},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5318536162376404},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4982624053955078},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4918830394744873},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4633306562900543},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.45393478870391846},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4196474850177765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4050154685974121},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37990802526474},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3768150210380554},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2611752152442932},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","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":3,"locations":[{"id":"doi:10.1017/s0263574702004290","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574702004290","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:scholarbank.nus.edu.sg:10635/60003","is_oa":false,"landing_page_url":"http://scholarbank.nus.edu.sg/handle/10635/60003","pdf_url":null,"source":{"id":"https://openalex.org/S7407052290","display_name":"National University of Singapore","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/88863","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/88863","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/88863","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/88863","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Thesis"},"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W16045089","https://openalex.org/W32403112","https://openalex.org/W1500040505","https://openalex.org/W1508036365","https://openalex.org/W1515851193","https://openalex.org/W1545656448","https://openalex.org/W1557517019","https://openalex.org/W1576452626","https://openalex.org/W1884658628","https://openalex.org/W1885639605","https://openalex.org/W1994923984","https://openalex.org/W2036689665","https://openalex.org/W2070038508","https://openalex.org/W2072476139","https://openalex.org/W2078794407","https://openalex.org/W2086587468","https://openalex.org/W2111253117","https://openalex.org/W2112032710","https://openalex.org/W2121863487","https://openalex.org/W2122903487","https://openalex.org/W2126839394","https://openalex.org/W2127036885","https://openalex.org/W2128967980","https://openalex.org/W2134619701","https://openalex.org/W2142992961","https://openalex.org/W2146122299","https://openalex.org/W2147750403","https://openalex.org/W2163921174","https://openalex.org/W2165131254","https://openalex.org/W2168507184","https://openalex.org/W2312191445","https://openalex.org/W2914508454","https://openalex.org/W4205326910","https://openalex.org/W4214717370","https://openalex.org/W4232480361","https://openalex.org/W4252510982","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W4253098096","https://openalex.org/W2042776672","https://openalex.org/W2130288220","https://openalex.org/W1973997235","https://openalex.org/W2952578757","https://openalex.org/W2992410780"],"abstract_inverted_index":{"Summary":[0],"This":[1],"paper":[2],"presents":[3],"a":[4,15,29],"general":[5,100],"control":[6,30,52,57,62,79],"architecture":[7],"for":[8],"bipedal":[9,69,107],"walking":[10],"which":[11],"is":[12,26,41,64,86,95,104],"based":[13,81],"on":[14,19,82],"divide-and-conquer":[16],"approach.":[17],"Based":[18],"the":[20,22,45,49,76,83,90],"architecture,":[21],"sagittal-plane":[23],"motion-control":[24],"algorithm":[25,40,63,94],"formulated":[27],"using":[28],"approach":[31],"known":[32],"as":[33],"Virtual":[34],"Model":[35],"Control.":[36],"A":[37],"reinforcment":[38],"learning":[39,91],"used":[42],"to":[43,66,98],"learn":[44],"key":[46],"parameter":[47],"of":[48],"swing":[50],"leg":[51],"task":[53],"so":[54],"that":[55,75,102,109],"speed":[56,78],"can":[58],"be":[59,99],"achieved.":[60],"The":[61,71,93],"applied":[65],"two":[67],"simulated":[68],"robots.":[70],"simulation":[72],"analyses":[73],"demonstrate":[74],"local":[77],"mechanism":[80],"stance":[84],"ankle":[85],"effective":[87],"in":[88,101],"reducing":[89],"time.":[92],"also":[96],"demonstrated":[97],"it":[103],"applicable":[105],"across":[106],"robots":[108],"have":[110],"different":[111],"length":[112],"and":[113],"mass":[114],"parameters.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}