{"id":"https://openalex.org/W2101959596","doi":"https://doi.org/10.1109/acc.2005.1470773","title":"Planar bipedal walking with foot rotation","display_name":"Planar bipedal walking with foot rotation","publication_year":2005,"publication_date":"2005-08-10","ids":{"openalex":"https://openalex.org/W2101959596","doi":"https://doi.org/10.1109/acc.2005.1470773","mag":"2101959596"},"language":"en","primary_location":{"id":"doi:10.1109/acc.2005.1470773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-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/A5100714678","display_name":"Jun Ho Choi","orcid":"https://orcid.org/0000-0002-4848-517X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jun Ho Choi","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Michigan Ann Arbor, Ann Arbor, MI, USA","Dept., of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept., of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.W. Grizzle","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Michigan Ann Arbor, Ann Arbor, MI, USA","Dept., of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan Ann Arbor, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept., of Electr. Eng. & Comput. Sci., Michigan Univ., Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":7.1798,"has_fulltext":false,"cited_by_count":58,"citation_normalized_percentile":{"value":0.97410283,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"124","issue":null,"first_page":"4909","last_page":"4916"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9944000244140625,"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":0.989300012588501,"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/underactuation","display_name":"Underactuation","score":0.9194228053092957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7511758804321289},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6851270794868469},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.6628282070159912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5332023501396179},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5201176404953003},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.48005446791648865},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.46009060740470886},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.452411413192749},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.44935959577560425},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4144558012485504},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24450305104255676},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.198304682970047},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12135374546051025},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0917254090309143}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9194228053092957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7511758804321289},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6851270794868469},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.6628282070159912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5332023501396179},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5201176404953003},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.48005446791648865},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.46009060740470886},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.452411413192749},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.44935959577560425},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4144558012485504},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24450305104255676},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.198304682970047},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12135374546051025},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0917254090309143},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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":2,"locations":[{"id":"doi:10.1109/acc.2005.1470773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/acc.2005.1470773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005, American Control Conference, 2005.","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.79.2432","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.79.2432","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.umich.edu/~grizzle/papers/Choi_Grizzle_ACC_2005.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5400000214576721,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W129037336","https://openalex.org/W1913821114","https://openalex.org/W1938258084","https://openalex.org/W1990047283","https://openalex.org/W1994901339","https://openalex.org/W2030515455","https://openalex.org/W2036689665","https://openalex.org/W2051287096","https://openalex.org/W2079407617","https://openalex.org/W2085746528","https://openalex.org/W2092535029","https://openalex.org/W2101742065","https://openalex.org/W2107108040","https://openalex.org/W2110977620","https://openalex.org/W2112640448","https://openalex.org/W2114145903","https://openalex.org/W2122701890","https://openalex.org/W2128131727","https://openalex.org/W2129869005","https://openalex.org/W2137547873","https://openalex.org/W2141377539","https://openalex.org/W2142992961","https://openalex.org/W2156895423","https://openalex.org/W2161942114","https://openalex.org/W6605225115","https://openalex.org/W6679036985"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W1731517871","https://openalex.org/W4210853116","https://openalex.org/W3114149462"],"abstract_inverted_index":{"This":[0],"paper":[1,93],"addresses":[2],"the":[3,24,50,56,62,67,70,75,92,104,123,137,159,171,175],"key":[4],"problem":[5],"of":[6,42,91,109,163,174],"walking":[7,36],"with":[8,30],"both":[9],"fully-actuated":[10,47,105,124],"and":[11,20,69,77,106,119,145],"underactuated":[12,59,107,138],"phases.":[13],"The":[14,34,88,152],"studied":[15],"robot":[16],"is":[17,38,53,94,156],"planar,":[18],"bipedal,":[19],"fully":[21],"actuated":[22,32],"in":[23,168,190],"sense":[25],"that":[26,102,170,186],"it":[27,141],"has":[28,142],"feet":[29],"revolute,":[31],"ankles.":[33],"desired":[35],"motion":[37],"assumed":[39],"to":[40,95,181],"consist":[41],"three":[43],"successive":[44],"phases:":[45],"a":[46,97,182],"phase":[48,60,82,125,139],"where":[49,61,83],"stance":[51,63,71],"foot":[52,72],"flat":[54],"on":[55,150],"ground,":[57],"an":[58,78],"heel":[64],"lifts":[65],"from":[66],"ground":[68],"rotates":[73],"about":[74],"toe,":[76],"instantaneous":[79],"double":[80],"support":[81],"leg":[84],"exchange":[85],"takes":[86],"place.":[87],"main":[89],"contribution":[90],"provide":[96],"provably":[98],"asymptotically":[99],"stabilizing":[100],"controller":[101,153],"integrates":[103],"phases":[108],"walking.":[110],"By":[111],"comparison,":[112],"existing":[113],"humanoid":[114],"robots,":[115],"such":[116],"as":[117,148],"ASIMO":[118],"Qrio,":[120],"use":[121],"only":[122,128,136],"(i.e.,":[126,140],"they":[127],"execute":[129],"flat-footed":[130],"walking),":[131],"or":[132],"RABBIT,":[133],"which":[134],"uses":[135],"no":[143],"feet,":[144],"hence":[146],"walks":[147],"if":[149],"stilts).":[151],"proposed":[154],"here":[155],"organized":[157],"around":[158],"hybrid":[160],"zero":[161],"dynamics":[162],"Westervelt":[164],"et":[165],"al.":[166],"(2003)":[167],"order":[169],"stability":[172],"analysis":[173],"closed-loop":[176],"system":[177],"may":[178],"be":[179,188],"reduced":[180],"one-dimensional":[183],"Poincare":[184],"map":[185],"can":[187],"computed":[189],"closed":[191],"form.":[192]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
