{"id":"https://openalex.org/W2161132584","doi":"https://doi.org/10.1109/cdc.2010.5718060","title":"Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL","display_name":"Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2161132584","doi":"https://doi.org/10.1109/cdc.2010.5718060","mag":"2161132584"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5718060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5718060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","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/A5054075105","display_name":"Koushil Sreenath","orcid":"https://orcid.org/0000-0002-5346-3637"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Koushil Sreenath","raw_affiliation_strings":["Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["Mechanical Engineering Department, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057980698","display_name":"Ioannis Poulakakis","orcid":"https://orcid.org/0000-0001-7045-1075"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Poulakakis","raw_affiliation_strings":["Mechanical Engineering Department, University of Delaware, Newark, DE, USA"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of Delaware, Newark, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","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":["Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA"],"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, Electrical Engineering and Computer Science Department, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054075105"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.68175228,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"280","last_page":"287"},"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":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9908000230789185,"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":0.7457022666931152},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6489062309265137},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6237668395042419},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6208378076553345},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.5300210118293762},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.47980931401252747},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.4519486427307129},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.44995006918907166},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4383709728717804},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.43039751052856445},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37373587489128113},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3220365047454834},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.26197394728660583},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2202659547328949},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11689808964729309},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08158183097839355}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7457022666931152},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6489062309265137},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6237668395042419},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6208378076553345},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5300210118293762},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.47980931401252747},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.4519486427307129},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.44995006918907166},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4383709728717804},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.43039751052856445},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37373587489128113},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3220365047454834},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.26197394728660583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2202659547328949},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11689808964729309},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08158183097839355},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2010.5718060","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5718060","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1547649699","https://openalex.org/W1887006513","https://openalex.org/W1993314711","https://openalex.org/W2079407617","https://openalex.org/W2079559070","https://openalex.org/W2081115468","https://openalex.org/W2110844638","https://openalex.org/W2121829700","https://openalex.org/W2140293116","https://openalex.org/W2142756781","https://openalex.org/W2154205451","https://openalex.org/W2157055752","https://openalex.org/W2157924809","https://openalex.org/W3160954918","https://openalex.org/W4292872153","https://openalex.org/W6648445589"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999","https://openalex.org/W2140409554"],"abstract_inverted_index":{"This":[0,66],"paper":[1],"extends":[2],"the":[3,49,53,57,61,71,74,95,103],"method":[4],"of":[5,20,56,64,94],"virtual":[6],"constraints":[7],"and":[8,59,84,99],"hybrid":[9,75],"zero":[10,76],"dynamics,":[11],"developed":[12],"for":[13,38],"rigid":[14],"robots":[15],"with":[16,27],"a":[17,24,28,46],"single":[18],"degree":[19],"underactuation,":[21],"to":[22,86,97,102],"MABEL,":[23],"planar":[25],"biped":[26],"novel":[29],"compliant":[30],"transmission.":[31],"A":[32],"time-invariant":[33],"feedback":[34],"controller":[35,80],"is":[36,67,81],"designed":[37],"realizing":[39],"exponentially":[40],"stable":[41,88],"waking":[42],"gaits":[43,90],"in":[44],"such":[45],"way":[47],"that":[48],"closed-loop":[50],"system":[51],"preserves":[52],"natural":[54],"compliance":[55,72,96],"system,":[58],"therefore":[60],"energetic":[62],"benefits":[63],"springs.":[65],"accomplished":[68],"by":[69],"incorporating":[70],"into":[73],"dynamics.":[77],"The":[78],"compliant-hybrid-zero-dynamics-based":[79],"implemented":[82],"experimentally":[83],"shown":[85],"realize":[87],"walking":[89],"which":[91],"make":[92],"use":[93],"store":[98],"return":[100],"energy":[101],"gait.":[104]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}