{"id":"https://openalex.org/W2465284394","doi":"https://doi.org/10.1109/access.2016.2582731","title":"From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking","display_name":"From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2465284394","doi":"https://doi.org/10.1109/access.2016.2582731","mag":"2465284394"},"language":"en","primary_location":{"id":"doi:10.1109/access.2016.2582731","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2016.2582731","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/7419931/07501826.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/7419931/07501826.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5082198354","display_name":"Xingye Da","orcid":"https://orcid.org/0000-0003-4439-4980"},"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":"Xingye Da","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054647172","display_name":"Omar Harib","orcid":"https://orcid.org/0000-0001-9594-0967"},"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":false,"raw_author_name":"Omar Harib","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048063216","display_name":"Ross Hartley","orcid":"https://orcid.org/0000-0002-4605-4333"},"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":false,"raw_author_name":"Ross Hartley","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000471874","display_name":"Brent Griffin","orcid":null},"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":false,"raw_author_name":"Brent Griffin","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, 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\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessy W. Grizzle","raw_affiliation_strings":["University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5082198354"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":8.036,"has_fulltext":true,"cited_by_count":109,"citation_normalized_percentile":{"value":0.98004093,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"4","issue":null,"first_page":"3469","last_page":"3478"},"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":0.9940999746322632,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9642000198364258,"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/underactuation","display_name":"Underactuation","score":0.8832610845565796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6707504391670227},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.6262038946151733},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.534415602684021},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5171656012535095},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48149573802948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3683280348777771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2704029083251953},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26461493968963623},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24675202369689941},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15642213821411133}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8832610845565796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6707504391670227},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.6262038946151733},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.534415602684021},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5171656012535095},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48149573802948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3683280348777771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2704029083251953},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26461493968963623},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24675202369689941},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15642213821411133},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2016.2582731","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2016.2582731","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/7419931/07501826.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e68f6f59d4d944c0a0e13b497f468bff","is_oa":true,"landing_page_url":"https://doaj.org/article/e68f6f59d4d944c0a0e13b497f468bff","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 4, Pp 3469-3478 (2016)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2016.2582731","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2016.2582731","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/7419931/07501826.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"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 Access","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G1987863002","display_name":null,"funder_award_id":"ECCS-1231171","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2296916099","display_name":null,"funder_award_id":"ECCS-1","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2413429525","display_name":null,"funder_award_id":"ECCS-1343720","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3047142357","display_name":null,"funder_award_id":"1343720","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5116236951","display_name":"Feedback Control of Highly Dynamic Spatial Locomotion in 3D Bipedal Robots","funder_award_id":"1231171","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320307103","display_name":"Ford Motor Company","ror":"https://ror.org/00g2tkw06"},{"id":"https://openalex.org/F4320309507","display_name":"San Diego State University","ror":"https://ror.org/0264fdx42"},{"id":"https://openalex.org/F4320311401","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60"},{"id":"https://openalex.org/F4320337392","display_name":"Division of Electrical, Communications and Cyber Systems","ror":"https://ror.org/01krpsy48"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2465284394.pdf","grobid_xml":"https://content.openalex.org/works/W2465284394.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W256081288","https://openalex.org/W1030513622","https://openalex.org/W1487434675","https://openalex.org/W1504362584","https://openalex.org/W1605218591","https://openalex.org/W1639534865","https://openalex.org/W1934116780","https://openalex.org/W1974406151","https://openalex.org/W1981717102","https://openalex.org/W1996763811","https://openalex.org/W1997253004","https://openalex.org/W2017741242","https://openalex.org/W2022971533","https://openalex.org/W2023392182","https://openalex.org/W2027493169","https://openalex.org/W2029058516","https://openalex.org/W2030515455","https://openalex.org/W2032050671","https://openalex.org/W2043509640","https://openalex.org/W2057757990","https://openalex.org/W2065942939","https://openalex.org/W2074154222","https://openalex.org/W2079407617","https://openalex.org/W2079995373","https://openalex.org/W2088381757","https://openalex.org/W2099447959","https://openalex.org/W2099473122","https://openalex.org/W2100894988","https://openalex.org/W2112169448","https://openalex.org/W2122116594","https://openalex.org/W2122903487","https://openalex.org/W2136908593","https://openalex.org/W2143717973","https://openalex.org/W2155658243","https://openalex.org/W2157055752","https://openalex.org/W2157144668","https://openalex.org/W2161427949","https://openalex.org/W2161643831","https://openalex.org/W2161942114","https://openalex.org/W2162109810","https://openalex.org/W2163668399","https://openalex.org/W2239166089","https://openalex.org/W2293019713","https://openalex.org/W2337991911","https://openalex.org/W2409421274","https://openalex.org/W2413990562","https://openalex.org/W2479085947","https://openalex.org/W2495748062","https://openalex.org/W2539534359","https://openalex.org/W2542059832","https://openalex.org/W2963074011","https://openalex.org/W2963079481","https://openalex.org/W4241090687","https://openalex.org/W6609704046"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W2373557848","https://openalex.org/W2088970451","https://openalex.org/W2002488624","https://openalex.org/W2157008402","https://openalex.org/W2592302855"],"abstract_inverted_index":{"Analysis":[0],"and":[1,27,44,55,85],"controller":[2],"design":[3,89],"methods":[4],"abound":[5],"in":[6,70],"the":[7,29,38,88],"literature":[8],"for":[9,24],"planar":[10,42],"(also":[11],"known":[12],"as":[13],"2-D)":[14],"bipedal":[15],"models.":[16],"This":[17],"paper":[18],"takes":[19],"one":[20],"of":[21,31,35,40,81,87],"them":[22],"developed":[23],"underactuated":[25],"bipeds":[26],"documents":[28],"process":[30],"designing":[32],"a":[33,41,49,71],"family":[34],"controllers":[36],"on":[37,48],"basis":[39],"model":[43],"achieving":[45],"stable":[46],"walking":[47,58],"physical":[50],"3-D":[51],"robot,":[52],"both":[53],"indoors":[54],"outdoors,":[56],"with":[57,79],"speed":[59],"varying":[60],"smoothly":[61],"from":[62],"0":[63],"to":[64],"0.8":[65],"m/s.":[66],"The":[67],"longest":[68],"walk":[69],"single":[72],"experiment":[73],"is":[74],"260":[75],"m":[76],"over":[77],"terrain":[78],"\u00b17\u00b0":[80],"slope":[82],"variation.":[83],"Advantages":[84],"disadvantages":[86],"approach":[90],"are":[91],"discussed.":[92]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":12},{"year":2016,"cited_by_count":3}],"updated_date":"2026-03-18T14:38:29.013473","created_date":"2025-10-10T00:00:00"}