{"id":"https://openalex.org/W3093886442","doi":"https://doi.org/10.1109/biorob49111.2020.9224423","title":"Normalized Criteria and Comparative Analysis of Legged Stability","display_name":"Normalized Criteria and Comparative Analysis of Legged Stability","publication_year":2020,"publication_date":"2020-10-15","ids":{"openalex":"https://openalex.org/W3093886442","doi":"https://doi.org/10.1109/biorob49111.2020.9224423","mag":"3093886442"},"language":"en","primary_location":{"id":"doi:10.1109/biorob49111.2020.9224423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","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/A5046378523","display_name":"William Z. Peng","orcid":"https://orcid.org/0000-0002-3612-3315"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"William Z. Peng","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012243348","display_name":"Joo H. Kim","orcid":"https://orcid.org/0000-0003-0305-5405"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joo H. Kim","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046378523"],"corresponding_institution_ids":["https://openalex.org/I57206974"],"apc_list":null,"apc_paid":null,"fwci":0.1717,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.46837408,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"803","last_page":"808"},"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":0.9879000186920166,"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":0.9742000102996826,"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/computer-science","display_name":"Computer science","score":0.5936352610588074},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5924239158630371},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.584150493144989},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5577149987220764},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5434582233428955},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5433304309844971},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4991493225097656},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.48538124561309814},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22880354523658752},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.129704087972641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11426490545272827},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08989039063453674},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08374488353729248}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5936352610588074},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5924239158630371},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.584150493144989},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5577149987220764},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5434582233428955},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5433304309844971},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4991493225097656},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.48538124561309814},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22880354523658752},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.129704087972641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11426490545272827},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08989039063453674},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08374488353729248},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob49111.2020.9224423","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob49111.2020.9224423","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W1515537504","https://openalex.org/W1969647642","https://openalex.org/W1986988489","https://openalex.org/W2016532427","https://openalex.org/W2022144657","https://openalex.org/W2037686067","https://openalex.org/W2037729465","https://openalex.org/W2074042377","https://openalex.org/W2079995373","https://openalex.org/W2083988917","https://openalex.org/W2104479525","https://openalex.org/W2156516508","https://openalex.org/W2319578846","https://openalex.org/W2517429145","https://openalex.org/W2539534359","https://openalex.org/W2570283482","https://openalex.org/W2735356792","https://openalex.org/W2772567256","https://openalex.org/W2783932940","https://openalex.org/W2883744822","https://openalex.org/W2898299424","https://openalex.org/W2964324732","https://openalex.org/W3090100670","https://openalex.org/W4241586728","https://openalex.org/W6755887875"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2536076676","https://openalex.org/W107892592"],"abstract_inverted_index":{"Stepping":[0],"is":[1],"a":[2,41,50,56,80,123],"vital":[3],"strategy":[4],"for":[5,22,79,152],"legged":[6,26],"systems":[7],"to":[8,39,116,130,147,168],"recover":[9],"balance":[10,153,170],"while":[11],"they":[12],"interact":[13],"with":[14,83,106],"their":[15],"environment.":[16],"This":[17],"work":[18],"presents":[19],"normalized":[20,101,143],"criteria":[21,36],"the":[23,46,67,107,118,133,137,142,150],"analysis":[24,44,58,135],"of":[25,45,59,95,109,120,126,136],"system":[27,85],"stability":[28,171],"based":[29,91],"on":[30,92],"balanced":[31,75],"and":[32,55,61,72,87,127,139],"steppable":[33],"regions.":[34],"These":[35],"are":[37,77,103,145],"applied":[38],"both":[40,156],"comprehensive":[42],"region-based":[43],"contact":[47,180],"transitions":[48,181],"during":[49],"normal":[51],"human":[52,62,81,140],"step":[53],"cycle":[54],"comparative":[57,134],"humanoid":[60,138],"systems.":[63,157],"In":[64,132],"this":[65],"work,":[66],"steppable,":[68],"single":[69],"support":[70,74],"balanced,":[71],"double":[73],"regions":[76,102,144],"evaluated":[78],"model":[82,113],"full-order":[84],"dynamics":[86],"joint":[88,98],"actuation":[89],"limits":[90],"biomechanical":[93],"models":[94],"maximum":[96],"voluntary":[97],"torques.":[99],"The":[100,158],"also":[104],"compared":[105],"capturability":[108],"an":[110],"equivalent":[111],"reduced-order":[112],"in":[114,155,172],"order":[115],"demonstrate":[117],"role":[119],"steppability":[121],"as":[122],"general":[124],"extension":[125],"complementary":[128],"concept":[129],"capturability.":[131],"systems,":[141],"used":[146],"directly":[148],"compare":[149],"capability":[151],"recovery":[154],"proposed":[159],"approaches":[160],"can":[161,182],"be":[162],"generalized":[163],"beyond":[164],"sagittal":[165],"planar":[166],"walking":[167],"analyze":[169],"any":[173],"multi-contact":[174],"scenario":[175],"where":[176],"stepping":[177],"or":[178],"step-like":[179],"occur.":[183]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}