{"id":"https://openalex.org/W3026813844","doi":"https://doi.org/10.1109/access.2020.2996211","title":"A Comparative Study on the <i>L</i> <sub>1</sub> Optimal Event-Based Method for Biped Walking on Rough Terrains","display_name":"A Comparative Study on the <i>L</i> <sub>1</sub> Optimal Event-Based Method for Biped Walking on Rough Terrains","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3026813844","doi":"https://doi.org/10.1109/access.2020.2996211","mag":"3026813844"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2996211","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2996211","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09097875.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09097875.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Massachusetts Institute of Technology (MIT), Cambridge, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology (MIT), Cambridge, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100333069","display_name":"Jung Hoon Kim","orcid":"https://orcid.org/0000-0002-5387-2895"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung Hoon Kim","raw_affiliation_strings":["Pohang University of Science and Technology (POSTECH), Pohang, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5387-2895","affiliations":[{"raw_affiliation_string":"Pohang University of Science and Technology (POSTECH), Pohang, South Korea","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.1706,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.44629457,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"8","issue":null,"first_page":"96304","last_page":"96315"},"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9750999808311462,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9686999917030334,"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/terrain","display_name":"Terrain","score":0.8613380193710327},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7483575344085693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6307873129844666},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6186411380767822},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6094326972961426},{"id":"https://openalex.org/keywords/measure","display_name":"Measure (data warehouse)","score":0.5936143398284912},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.5905488729476929},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4626598656177521},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.4443100094795227},{"id":"https://openalex.org/keywords/sort","display_name":"sort","score":0.42844802141189575},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.3219403028488159},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3127751350402832},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22594425082206726},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.167486310005188},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08243998885154724},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.07033908367156982}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8613380193710327},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7483575344085693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6307873129844666},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6186411380767822},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6094326972961426},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.5936143398284912},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.5905488729476929},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4626598656177521},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.4443100094795227},{"id":"https://openalex.org/C88548561","wikidata":"https://www.wikidata.org/wiki/Q347599","display_name":"sort","level":2,"score":0.42844802141189575},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.3219403028488159},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3127751350402832},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22594425082206726},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.167486310005188},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08243998885154724},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.07033908367156982},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","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},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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":3,"locations":[{"id":"doi:10.1109/access.2020.2996211","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2996211","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09097875.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1c847d3ee9fc4365940bf0c89ee89385","is_oa":true,"landing_page_url":"https://doaj.org/article/1c847d3ee9fc4365940bf0c89ee89385","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"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 8, Pp 96304-96315 (2020)","raw_type":"article"},{"id":"pmh:oai:oasis.postech.ac.kr:2014.oak/103871","is_oa":false,"landing_page_url":"https://oasis.postech.ac.kr/handle/2014.oak/103871","pdf_url":null,"source":{"id":"https://openalex.org/S4306401965","display_name":"Open Access System for Information Sharing (Pohang University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I123900574","host_organization_name":"Pohang University of Science and Technology","host_organization_lineage":["https://openalex.org/I123900574"],"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"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2996211","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2996211","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09097875.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[{"id":"https://openalex.org/G7961225860","display_name":null,"funder_award_id":"2020R1G1A1003506","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"},{"id":"https://openalex.org/G875192162","display_name":null,"funder_award_id":"2019R1A4A1029003","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G8870551071","display_name":null,"funder_award_id":"2019R1A4A1029003","funder_id":"https://openalex.org/F4320322120","funder_display_name":"National Research Foundation of Korea"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3026813844.pdf","grobid_xml":"https://content.openalex.org/works/W3026813844.grobid-xml"},"referenced_works_count":43,"referenced_works":["https://openalex.org/W120474416","https://openalex.org/W129643872","https://openalex.org/W1487434675","https://openalex.org/W1504362584","https://openalex.org/W1534416612","https://openalex.org/W1599202681","https://openalex.org/W1608101987","https://openalex.org/W1833562170","https://openalex.org/W1968160270","https://openalex.org/W1979422127","https://openalex.org/W1981717102","https://openalex.org/W1995409582","https://openalex.org/W2004162992","https://openalex.org/W2016532427","https://openalex.org/W2017724026","https://openalex.org/W2022781970","https://openalex.org/W2037729465","https://openalex.org/W2067394231","https://openalex.org/W2080348988","https://openalex.org/W2086587468","https://openalex.org/W2089794599","https://openalex.org/W2095840481","https://openalex.org/W2107063340","https://openalex.org/W2114121779","https://openalex.org/W2128284518","https://openalex.org/W2136143868","https://openalex.org/W2138671676","https://openalex.org/W2145944877","https://openalex.org/W2162405796","https://openalex.org/W2163668399","https://openalex.org/W2170420143","https://openalex.org/W2227872806","https://openalex.org/W2273598874","https://openalex.org/W2294535740","https://openalex.org/W2563461778","https://openalex.org/W2771897227","https://openalex.org/W3004813982","https://openalex.org/W4300059230","https://openalex.org/W6604928215","https://openalex.org/W6605425664","https://openalex.org/W6697349633","https://openalex.org/W6773672775","https://openalex.org/W7075363699"],"related_works":["https://openalex.org/W4399671601","https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W2361805396","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2069184433","https://openalex.org/W3023567978","https://openalex.org/W2972254340","https://openalex.org/W3044778482"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,70,125],"concerned":[3],"with":[4,25,37,86],"a":[5,15,22,34,79,83,105,112,117,128,151],"comparative":[6],"study":[7],"of":[8,19,55,111,130,143],"biped":[9,148],"walking":[10,20,85,100,149],"on":[11,21,48,72,150],"rough":[12,49,152],"terrains.":[13],"Given":[14],"bipedal":[16],"robot":[17,45,84],"capable":[18],"flat":[23],"ground":[24],"periodic":[26],"behavior,":[27],"whose":[28],"motion":[29],"can":[30],"be":[31,61],"described":[32,126],"by":[33],"limit":[35],"cycle":[36],"the":[38,44,56,67,73,87,93,123,131,136,141],"Poincar":[39,74],"map,":[40],"we":[41,102],"consider":[42],"whether":[43],"remains":[46],"stable":[47],"terrain,":[50],"in":[51,121,147],"which":[52,122],"geometrical":[53],"uncertainties":[54],"terrain":[57,153],"are":[58,154],"assumed":[59],"to":[60],"persistent":[62,89],"and":[63,76,96,116],"bounded.":[64],"More":[65],"precisely,":[66],"l\u221e-induced":[68],"norm":[69],"defined":[71],"map":[75],"taken":[77],"as":[78,127,138,140],"performance":[80,94],"measure":[81,95],"evaluating":[82],"bounded":[88],"uncertainties.":[90],"To":[91],"minimize":[92],"achieve":[97],"an":[98],"optimal":[99,133],"performance,":[101],"further":[103],"provide":[104],"systematic":[106],"controller":[107,115],"design":[108],"scheme":[109],"consisting":[110],"inner-loop":[113],"continuous-time":[114],"outer-loop":[118],"event-based":[119],"controller,":[120],"latter":[124],"sort":[129],"l1":[132],"controller.":[134],"Finally,":[135],"validity":[137],"well":[139],"effectiveness":[142],"our":[144],"proposed":[145],"methods":[146],"demonstrated":[155],"through":[156],"simulation":[157],"studies.":[158]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}