{"id":"https://openalex.org/W2162650699","doi":"https://doi.org/10.1109/cdc.2004.1428647","title":"Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner","display_name":"Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2162650699","doi":"https://doi.org/10.1109/cdc.2004.1428647","mag":"2162650699"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2004.1428647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1428647","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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/A5053183805","display_name":"Christine Chevallereau","orcid":"https://orcid.org/0000-0002-1929-5211"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"C. Chevallereau","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Nantes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, UMR CNRS 6597, Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078231177","display_name":"E. R. Westervelt","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"E.R. Westervelt","raw_affiliation_strings":["Department of Mechanical Engineering, Ohio State Uinversity, Columbus, OH, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058475844","display_name":"J.W. Grizzle","orcid":null},"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":"J.W. Grizzle","raw_affiliation_strings":["EECS Department, Control Systems Laboratory, University of Michigan, Ann Arbor, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"EECS Department, Control Systems Laboratory, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":11.2308,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.98742857,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"303","last_page":"310 Vol.1"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9891999959945679,"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/control-theory","display_name":"Control theory (sociology)","score":0.6992843151092529},{"id":"https://openalex.org/keywords/poincar\u00e9-map","display_name":"Poincar\u00e9 map","score":0.6454953551292419},{"id":"https://openalex.org/keywords/impulse","display_name":"Impulse (physics)","score":0.6379522085189819},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5967912077903748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5886124968528748},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5507171154022217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5488144755363464},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.503084123134613},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5005388259887695},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.48935312032699585},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.47052299976348877},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4392138421535492},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33289214968681335},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23061031103134155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17547956109046936},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.1649056375026703},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.13624489307403564},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11417698860168457},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08640387654304504},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07317724823951721}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6992843151092529},{"id":"https://openalex.org/C21955772","wikidata":"https://www.wikidata.org/wiki/Q339199","display_name":"Poincar\u00e9 map","level":4,"score":0.6454953551292419},{"id":"https://openalex.org/C70836080","wikidata":"https://www.wikidata.org/wiki/Q837940","display_name":"Impulse (physics)","level":2,"score":0.6379522085189819},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5967912077903748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5886124968528748},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5507171154022217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5488144755363464},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.503084123134613},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5005388259887695},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.48935312032699585},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.47052299976348877},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4392138421535492},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33289214968681335},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23061031103134155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17547956109046936},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.1649056375026703},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.13624489307403564},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11417698860168457},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08640387654304504},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07317724823951721},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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":3,"locations":[{"id":"doi:10.1109/cdc.2004.1428647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2004.1428647","pdf_url":null,"source":{"id":"https://openalex.org/S4363608267","display_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.118.1194","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.118.1194","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.umich.edu/~grizzle/CDC_2004_Running/Chevallereau_CDC_2004_submission.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.79.5768","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.79.5768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.umich.edu/~grizzle/papers/cdc04_running_revised.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"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":31,"referenced_works":["https://openalex.org/W1995551113","https://openalex.org/W2004421076","https://openalex.org/W2015689071","https://openalex.org/W2030515455","https://openalex.org/W2049080811","https://openalex.org/W2068834857","https://openalex.org/W2068918765","https://openalex.org/W2074421808","https://openalex.org/W2079407617","https://openalex.org/W2085746528","https://openalex.org/W2092535029","https://openalex.org/W2098787727","https://openalex.org/W2112640448","https://openalex.org/W2114145903","https://openalex.org/W2115693880","https://openalex.org/W2119778835","https://openalex.org/W2128131727","https://openalex.org/W2133066796","https://openalex.org/W2137123963","https://openalex.org/W2137547873","https://openalex.org/W2144101144","https://openalex.org/W2156318352","https://openalex.org/W2161427949","https://openalex.org/W2161942114","https://openalex.org/W2171577463","https://openalex.org/W2337991911","https://openalex.org/W2685220948","https://openalex.org/W2914669743","https://openalex.org/W4300506249","https://openalex.org/W6673507168","https://openalex.org/W6740337202"],"related_works":["https://openalex.org/W1518185400","https://openalex.org/W3200586296","https://openalex.org/W4230332972","https://openalex.org/W1998033311","https://openalex.org/W4247322236","https://openalex.org/W4231165741","https://openalex.org/W1762272577","https://openalex.org/W4206960768","https://openalex.org/W4229899156","https://openalex.org/W2158247860"],"abstract_inverted_index":{"Provably":[0],"asymptotically-stable":[1],"running-gaits":[2],"are":[3,92],"developed":[4],"for":[5,44,63],"the":[6,18,24,31,45,55,67,71,76,88,95],"five-link,":[7],"four-actuator":[8],"bipedal":[9],"robot,":[10],"RABBIT.":[11],"A":[12],"controller":[13],"is":[14,82],"designed":[15],"so":[16],"that":[17],"Poincare":[19,72],"return":[20,73],"map":[21,74],"associated":[22],"with":[23,36],"running":[25,64,90],"gait":[26],"can":[27],"be":[28],"computed":[29],"on":[30,75,94],"basis":[32],"of":[33,47,57,70,87],"a":[34,58],"model":[35],"impulse-effects":[37],"that,":[38],"previously,":[39],"had":[40],"been":[41],"used":[42],"only":[43],"design":[46,52],"walking":[48],"gaits.":[49],"This":[50],"feedback":[51],"leads":[53],"to":[54,66],"notion":[56],"hybrid":[59],"zero":[60,77],"dynamics":[61],"(HZD)":[62],"and":[65],"closed-form":[68],"computation":[69],"dynamics.":[78],"The":[79],"main":[80],"theorem":[81],"illustrated":[83],"via":[84],"simulation.":[85],"Animations":[86],"obtained":[89],"motion":[91],"available":[93],"Web.":[96]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
