{"id":"https://openalex.org/W2604724024","doi":"https://doi.org/10.1109/access.2017.2690407","title":"First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons","display_name":"First Steps Towards Translating HZD Control of Bipedal Robots to Decentralized Control of Exoskeletons","publication_year":2017,"publication_date":"2017-01-01","ids":{"openalex":"https://openalex.org/W2604724024","doi":"https://doi.org/10.1109/access.2017.2690407","mag":"2604724024"},"language":"en","primary_location":{"id":"doi:10.1109/access.2017.2690407","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2690407","pdf_url":null,"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://doi.org/10.1109/access.2017.2690407","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018258627","display_name":"Ayush Agrawal","orcid":"https://orcid.org/0000-0002-2531-7819"},"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":"Ayush Agrawal","raw_affiliation_strings":["Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"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","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":["Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069228447","display_name":"Ayonga Hereid","orcid":"https://orcid.org/0000-0002-4156-2013"},"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":"Ayonga Hereid","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031536340","display_name":"Sylvain Finet","orcid":null},"institutions":[{"id":"https://openalex.org/I190752583","display_name":"ParisTech","ror":"https://ror.org/05c2qg481","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583"]},{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sylvain Finet","raw_affiliation_strings":["MINES ParisTech, PSL Research University, Fontainebleau, France","Wandercraft SAS, Paris, France"],"affiliations":[{"raw_affiliation_string":"MINES ParisTech, PSL Research University, Fontainebleau, France","institution_ids":["https://openalex.org/I190752583","https://openalex.org/I2746051580"]},{"raw_affiliation_string":"Wandercraft SAS, Paris, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062140617","display_name":"Matthieu Masselin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthieu Masselin","raw_affiliation_strings":["Wandercraft SAS, Paris, France"],"affiliations":[{"raw_affiliation_string":"Wandercraft SAS, Paris, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101466166","display_name":"Laurent Praly","orcid":"https://orcid.org/0000-0003-4380-7616"},"institutions":[{"id":"https://openalex.org/I2746051580","display_name":"Universit\u00e9 Paris Sciences et Lettres","ror":"https://ror.org/013cjyk83","country_code":"FR","type":"education","lineage":["https://openalex.org/I2746051580"]},{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Laurent Praly","raw_affiliation_strings":["Centre Automatique et Syst\u00e8mes, \u00c9cole des Mines de Paris, PSL Research University, Fontainebleau, France"],"affiliations":[{"raw_affiliation_string":"Centre Automatique et Syst\u00e8mes, \u00c9cole des Mines de Paris, PSL Research University, Fontainebleau, France","institution_ids":["https://openalex.org/I70768539","https://openalex.org/I2746051580"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"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, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"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":"Jessy W. Grizzle","raw_affiliation_strings":["Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5018258627"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":5.905,"has_fulltext":false,"cited_by_count":90,"citation_normalized_percentile":{"value":0.96908491,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"5","issue":null,"first_page":"9919","last_page":"9934"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.993399977684021,"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/T10675","display_name":"Mechanical Circulatory Support Devices","score":0.9898999929428101,"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/exoskeleton","display_name":"Exoskeleton","score":0.9336647987365723},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7557128667831421},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6600033044815063},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6203076243400574},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.602622389793396},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5481604933738708},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5380337834358215},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5089023113250732},{"id":"https://openalex.org/keywords/decentralised-system","display_name":"Decentralised system","score":0.4524648189544678},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4416854679584503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3497372269630432},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2747805118560791},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.24609625339508057},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1515113115310669}],"concepts":[{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.9336647987365723},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7557128667831421},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6600033044815063},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6203076243400574},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.602622389793396},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5481604933738708},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5380337834358215},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5089023113250732},{"id":"https://openalex.org/C205875254","wikidata":"https://www.wikidata.org/wiki/Q17156857","display_name":"Decentralised system","level":3,"score":0.4524648189544678},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4416854679584503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3497372269630432},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2747805118560791},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.24609625339508057},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1515113115310669},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/access.2017.2690407","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2690407","pdf_url":null,"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:authors.library.caltech.edu:78440","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/78440/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:HAL:hal-01544572v1","is_oa":false,"landing_page_url":"https://minesparis-psl.hal.science/hal-01544572","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, 2017, 5 (1), pp.9919-9934. ⟨10.1109/ACCESS.2017.2690407⟩","raw_type":"Journal articles"},{"id":"pmh:oai:doaj.org/article:593dc29bea6c40a5ad0581ce97b81709","is_oa":true,"landing_page_url":"https://doaj.org/article/593dc29bea6c40a5ad0581ce97b81709","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 5, Pp 9919-9934 (2017)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2017.2690407","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2017.2690407","pdf_url":null,"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","score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G1667539487","display_name":null,"funder_award_id":"NRI-1525006","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4200924911","display_name":null,"funder_award_id":"IIS-1526515","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5808793594","display_name":null,"funder_award_id":"CPS-1239037","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6157497303","display_name":null,"funder_award_id":"IIS-1526519","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"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W51974407","https://openalex.org/W261295452","https://openalex.org/W1504362584","https://openalex.org/W1504627918","https://openalex.org/W1564897360","https://openalex.org/W1599202681","https://openalex.org/W1956237300","https://openalex.org/W1970101292","https://openalex.org/W1977443707","https://openalex.org/W1977886606","https://openalex.org/W1986164962","https://openalex.org/W1991235214","https://openalex.org/W1993314711","https://openalex.org/W2029188366","https://openalex.org/W2070825536","https://openalex.org/W2074154222","https://openalex.org/W2086105717","https://openalex.org/W2090771768","https://openalex.org/W2102046115","https://openalex.org/W2122409085","https://openalex.org/W2123871098","https://openalex.org/W2129485278","https://openalex.org/W2143717973","https://openalex.org/W2144781570","https://openalex.org/W2155658243","https://openalex.org/W2156018100","https://openalex.org/W2157924809","https://openalex.org/W2161942114","https://openalex.org/W2283492721","https://openalex.org/W2291968190","https://openalex.org/W2340207538","https://openalex.org/W2381269752","https://openalex.org/W2413990562","https://openalex.org/W2465284394","https://openalex.org/W2479085947","https://openalex.org/W2490989795","https://openalex.org/W2531456651","https://openalex.org/W4285719527","https://openalex.org/W6602113044","https://openalex.org/W6609610261"],"related_works":["https://openalex.org/W2901258812","https://openalex.org/W2887985348","https://openalex.org/W2401700601","https://openalex.org/W2570835373","https://openalex.org/W3198063775","https://openalex.org/W3017269254","https://openalex.org/W2475107902","https://openalex.org/W2557545276","https://openalex.org/W4387054232","https://openalex.org/W279168962"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"preliminary":[3],"results":[4],"toward":[5],"translating":[6],"gait":[7],"and":[8,46,178,186],"control":[9,16,90,106,119],"design":[10],"for":[11,33,55],"bipedal":[12],"robots":[13],"to":[14,24,98,113,117,133,158,173],"decentralized":[15,88,144,187],"of":[17,40,49],"an":[18],"exoskeleton":[19,103,121],"aimed":[20],"at":[21],"restoring":[22],"mobility":[23],"patients":[25],"with":[26],"lower":[27],"limb":[28],"paralysis,":[29],"without":[30],"the":[31,41,66,102,115,120,135,142,149,156,162,166],"need":[32],"crutches.":[34],"A":[35,105],"mathematical":[36],"hybrid":[37,81],"dynamical":[38,68],"model":[39],"human-exoskeleton":[42],"system":[43],"is":[44,59,86,108,139,171],"developed":[45,110],"a":[47,76,175],"library":[48],"dynamically":[50],"feasible":[51],"periodic":[52,150],"walking":[53,57,71,151,181],"gaits":[54,72,152],"different":[56],"speeds":[58,182],"found":[60,140],"through":[61,123],"nonlinear":[62],"constrained":[63],"optimization":[64],"using":[65,75],"full-order":[67],"system.":[69],"These":[70],"are":[73,130],"stabilized":[74],"centralized":[77,163],"(i.e.,":[78,89],"full-state":[79],"information)":[80,95],"zero":[82],"dynamics-based":[83],"controller,":[84],"which":[85],"then":[87,109],"actions":[91],"use":[92],"partial":[93],"state":[94,177],"so":[96,111],"as":[97,112],"be":[99],"implementable":[100],"on":[101],"subsystem.":[104],"architecture":[107],"allow":[114],"user":[116],"actively":[118],"speed":[122],"his/her":[124],"upper":[125],"body":[126],"posture.":[127],"Numerical":[128],"simulations":[129],"carried":[131],"out":[132],"compare":[134],"two":[136],"controllers.":[137],"It":[138],"that":[141],"proposed":[143,167],"controller":[145],"not":[146],"only":[147],"preserves":[148],"but":[153],"also":[154],"inherits":[155],"robustness":[157],"perturbations":[159],"present":[160],"in":[161],"controller.":[164],"Moreover,":[165],"velocity":[168],"regulation":[169],"scheme":[170],"able":[172],"reach":[174],"steady":[176],"track":[179],"desired":[180],"under":[183],"both,":[184],"centralized,":[185],"schemes.":[188]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":18},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":2}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}