{"id":"https://openalex.org/W2752712603","doi":"https://doi.org/10.1109/aim.2017.8014228","title":"A force direction control method for robotic bipedal walking based on a reduced order model","display_name":"A force direction control method for robotic bipedal walking based on a reduced order model","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752712603","doi":"https://doi.org/10.1109/aim.2017.8014228","mag":"2752712603"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Center for robotics research, Korea Institute of Science and Technology(KIST), Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for robotics research, Korea Institute of Science and Technology(KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056525701","display_name":"Minh Nhat Vu","orcid":"https://orcid.org/0000-0003-0692-8830"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minh Nhat Vu","raw_affiliation_strings":["Center for robotics research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for robotics research, Korea Institute of Science and Technology, Seongbuk-gu, Seoul, KR","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101939813","display_name":"Yonghwan Oh","orcid":"https://orcid.org/0000-0002-1109-305X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yonghwan Oh","raw_affiliation_strings":["Center for robotics research, Korea Institute of Science and Technology(KIST), Seoul, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for robotics research, Korea Institute of Science and Technology(KIST), Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"28","issue":null,"first_page":"1483","last_page":"1488"},"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":0.9943000078201294,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9779000282287598,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-theory","display_name":"Control theory (sociology)","score":0.7041928768157959},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6771986484527588},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6768743991851807},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6171587109565735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5576989650726318},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4421904683113098},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44101062417030334},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4277365803718567},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4171536862850189},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4047158360481262},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25603699684143066},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18425938487052917},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09846889972686768},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09509989619255066}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7041928768157959},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6771986484527588},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6768743991851807},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6171587109565735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5576989650726318},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4421904683113098},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44101062417030334},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4277365803718567},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4171536862850189},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4047158360481262},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25603699684143066},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18425938487052917},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09846889972686768},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09509989619255066},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014228","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014228","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6200000047683716,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W846924096","https://openalex.org/W1504362584","https://openalex.org/W1514487078","https://openalex.org/W1548742695","https://openalex.org/W1945123189","https://openalex.org/W1974681277","https://openalex.org/W2009317155","https://openalex.org/W2019428247","https://openalex.org/W2022781970","https://openalex.org/W2037729465","https://openalex.org/W2070839171","https://openalex.org/W2085547792","https://openalex.org/W2085782509","https://openalex.org/W2085897137","https://openalex.org/W2103243221","https://openalex.org/W2114115207","https://openalex.org/W2123402064","https://openalex.org/W2138671676","https://openalex.org/W2144351850","https://openalex.org/W2145512488","https://openalex.org/W2161427949","https://openalex.org/W2415959992","https://openalex.org/W2420347861","https://openalex.org/W2573851192"],"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/W4254591472"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,15,32,84],"present":[4],"a":[5,34,45,58,62,86,97,101],"control":[6,37,94],"method":[7,38,71],"for":[8,50],"bipedal":[9],"robotic":[10],"walking":[11,30,51,65,112],"based":[12],"on":[13],"insights":[14],"obtain":[16],"from":[17],"simple":[18,63],"models.":[19],"Inspired":[20],"by":[21],"the":[22,28,41,69,78,90,120,125],"virtual":[23],"pendulum":[24],"(VP)":[25],"concept":[26],"and":[27,111],"spring-mass":[29],"models,":[31],"propose":[33],"force":[35,43,81,92],"direction":[36,93],"to":[39,67,88],"redirect":[40],"axial":[42],"of":[44,61,80],"compliant":[46],"leg":[47,109],"in":[48],"order":[49],"with":[52,72,124,131],"upright":[53],"trunk.":[54],"We":[55],"first":[56],"consider":[57],"dynamic":[59],"simulation":[60,116],"planar":[64,102],"model":[66,122],"validate":[68],"proposed":[70,91,126],"proper":[73],"foot":[74],"placement":[75],"rule,":[76],"under":[77],"presence":[79],"disturbance.":[82],"Finally,":[83],"design":[85],"controller":[87,110,127],"implement":[89],"scheme":[95],"onto":[96],"more":[98],"realistic":[99],"model,":[100],"five":[103],"link":[104],"biped,":[105],"which":[106],"involves":[107],"individual":[108],"state":[113],"machine.":[114],"The":[115],"results":[117],"indicate":[118],"that":[119],"robot":[121],"equipped":[123],"can":[128],"overcome":[129],"terrains":[130],"moderate":[132],"roughness.":[133]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}