{"id":"https://openalex.org/W3048011153","doi":"https://doi.org/10.1109/aim43001.2020.9158892","title":"Analysis and Control of a Body-Attached Spring-Mass Runner Based on Central Pivot Point Approach","display_name":"Analysis and Control of a Body-Attached Spring-Mass Runner Based on Central Pivot Point Approach","publication_year":2020,"publication_date":"2020-07-01","ids":{"openalex":"https://openalex.org/W3048011153","doi":"https://doi.org/10.1109/aim43001.2020.9158892","mag":"3048011153"},"language":"en","primary_location":{"id":"doi:10.1109/aim43001.2020.9158892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME 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/A5004445310","display_name":"Osman Kaan Karag\u00f6z","orcid":null},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"O. Kaan Karagoz","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048107972","display_name":"\u0130zel Sever","orcid":null},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Izel Sever","raw_affiliation_strings":["Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071461538","display_name":"Uluc\u0323 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Uluc Saranli","raw_affiliation_strings":["Department of Computer Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067544950","display_name":"Mustafa Mert Ankaral\u0131","orcid":"https://orcid.org/0000-0002-1235-5373"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"M. Mert Ankarali","raw_affiliation_strings":["Department of Computer Engineering, Middle East Technical University, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201799495"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.16073599,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"193","issue":null,"first_page":"495","last_page":"500"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9855999946594238,"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":0.9729999899864197,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7895679473876953},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7439637184143066},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5517194867134094},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5088372826576233},{"id":"https://openalex.org/keywords/linear-quadratic-regulator","display_name":"Linear-quadratic regulator","score":0.5033044219017029},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.49051398038864136},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.48607566952705383},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4710122346878052},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41421326994895935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29000359773635864},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24618172645568848},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23034408688545227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22714188694953918},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15506210923194885},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.10411682724952698},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10050621628761292}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7895679473876953},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7439637184143066},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5517194867134094},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5088372826576233},{"id":"https://openalex.org/C98779006","wikidata":"https://www.wikidata.org/wiki/Q2520550","display_name":"Linear-quadratic regulator","level":3,"score":0.5033044219017029},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.49051398038864136},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.48607566952705383},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4710122346878052},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41421326994895935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29000359773635864},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24618172645568848},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23034408688545227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22714188694953918},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15506210923194885},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.10411682724952698},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10050621628761292},{"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/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/aim43001.2020.9158892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim43001.2020.9158892","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/57937","is_oa":false,"landing_page_url":"https://hdl.handle.net/11511/57937","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W1515570182","https://openalex.org/W1944242754","https://openalex.org/W1974461875","https://openalex.org/W1983815930","https://openalex.org/W1988073583","https://openalex.org/W1989901771","https://openalex.org/W2015710178","https://openalex.org/W2052683749","https://openalex.org/W2070839171","https://openalex.org/W2081031163","https://openalex.org/W2091214273","https://openalex.org/W2093937828","https://openalex.org/W2121829700","https://openalex.org/W2129224530","https://openalex.org/W2135557503","https://openalex.org/W2140202673","https://openalex.org/W2141519971","https://openalex.org/W2162405796","https://openalex.org/W2166735509","https://openalex.org/W2206891562","https://openalex.org/W2582371046","https://openalex.org/W2806491679","https://openalex.org/W2895199926"],"related_works":["https://openalex.org/W2775112436","https://openalex.org/W1547662599","https://openalex.org/W3326829","https://openalex.org/W2350013143","https://openalex.org/W3046172785","https://openalex.org/W2385948153","https://openalex.org/W2353814909","https://openalex.org/W2147778705","https://openalex.org/W4233673530","https://openalex.org/W2329279984"],"abstract_inverted_index":{"The":[0,27,253],"Spring-Loaded":[1],"Inverted":[2],"Pendulum":[3],"(SLIP)":[4],"template":[5,81,104],"and":[6,25,91,119,156,185,193,212,243,260,270],"its":[7],"extensions":[8,53],"have":[9],"long":[10],"been":[11],"used":[12],"as":[13,59],"benchmark":[14],"models":[15],"for":[16,115,136,180,209,218],"analyzing":[17],"the":[18,39,83,86,96,102,131,137,143,152,158,165,170,182,191,196,200,228,234,239,248,257,268],"dynamics":[19,211,225],"of":[20,33,85,154,195,199,236,238,246,272],"legged":[21],"systems":[22,94],"in":[23,72,79,89,267],"biology":[24],"robotics.":[26],"fundamental":[28,56],"SLIP":[29,80,103],"model":[30,172,249,259],"is":[31,82],"composed":[32],"single":[34],"point":[35],"mass":[36,155],"attached":[37,139],"to":[38,54,64,176,222,226],"ground":[40,148],"(during":[41],"stance":[42,144],"phase)":[43],"via":[44],"an":[45,213],"ideal":[46],"lossless":[47],"spring.":[48],"Many":[49],"researchers":[50],"introduced":[51],"various":[52],"this":[55,122,168],"model,":[57],"such":[58],"damping":[60],"&":[61],"torque":[62,159],"actuation,":[63],"handle":[65],"critical":[66],"physical":[67],"phenomena":[68],"that":[69,256],"are":[70],"unavoidable":[71],"real":[73],"systems.":[74,275],"Another":[75],"crucial":[76],"missing":[77],"concept":[78],"effect":[84],"upper":[87],"body":[88,138],"humans":[90],"humanoid":[92,273],"robotic":[93,274],"on":[95,164],"closed-loop":[97],"system":[98],"dynamics.":[99,187],"Even":[100],"though":[101],"can":[105],"effectively":[106],"capture":[107],"COM":[108],"behavior,":[109],"it":[110,174],"cannot":[111],"provide":[112],"a":[113,126,206],"framework":[114],"describing":[116],"fullbody":[117],"stabilization":[118],"control.":[120],"In":[121,142,167],"paper,":[123],"we":[124,189,204],"present":[125],"new":[127],"control":[128,241,262,271],"policy":[129,263],"called":[130],"Central":[132],"Pivot":[133],"Point":[134],"(CPP)":[135],"spring-mass":[140],"runners.":[141],"phase,":[145],"CPP":[146,171,201],"directs":[147],"reaction":[149],"forces":[150,163],"through":[151],"center":[153],"cancels":[157],"created":[160],"by":[161],"these":[162],"body.":[166],"way,":[169],"makes":[173],"possible":[175],"develop":[177,205],"different":[178],"controllers":[179],"both":[181],"body's":[183],"rotational":[184],"euclidean":[186],"Firstly,":[188],"analyze":[190],"characteristics":[192],"stability":[194],"periodic":[197,230],"solutions":[198],"model.":[202],"Then,":[203],"PD":[207],"controller":[208],"pitch":[210],"LQR":[214],"(Linear":[215],"Quadratic":[216],"Regulator)":[217],"gait":[219],"level":[220],"apex":[221,223],"discrete":[224],"stabilize":[227],"system's":[229],"solutions.":[231],"We":[232],"compute":[233],"basin":[235],"attraction":[237],"proposed":[240],"scheme":[242],"show":[244,255],"examples":[245],"how":[247],"behaves":[250],"under":[251],"disturbances.":[252],"results":[254],"purposed":[258],"associated":[261],"could":[264],"be":[265],"beneficial":[266],"design":[269]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
