{"id":"https://openalex.org/W4210553144","doi":"https://doi.org/10.1109/cdc45484.2021.9683065","title":"Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation","display_name":"Robust Disturbance Rejection for Robotic Bipedal Walking: System-Level-Synthesis with Step-to-step Dynamics Approximation","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W4210553144","doi":"https://doi.org/10.1109/cdc45484.2021.9683065"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683065","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"2021 60th IEEE Conference on Decision and Control (CDC)","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/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Xiong","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100366786","display_name":"Yuxiao Chen","orcid":"https://orcid.org/0000-0001-5276-7156"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuxiao Chen","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":2.4165,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.90107258,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"697","last_page":"704"},"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":0.9980000257492065,"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":0.9839000105857849,"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/disturbance","display_name":"Disturbance (geology)","score":0.7924681901931763},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6574144959449768},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.6120554208755493},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5580362677574158},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.536133348941803},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4685094654560089},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44642049074172974},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.43706685304641724},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4160737991333008},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2743804454803467},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21187031269073486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16976624727249146},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0851677656173706},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.08101493120193481}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.7924681901931763},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6574144959449768},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.6120554208755493},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5580362677574158},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.536133348941803},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4685094654560089},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44642049074172974},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.43706685304641724},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4160737991333008},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2743804454803467},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21187031269073486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16976624727249146},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0851677656173706},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.08101493120193481},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683065","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683065","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","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":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:113410","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/113410/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.47999998927116394,"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/W1601803999","https://openalex.org/W1820821744","https://openalex.org/W2047174209","https://openalex.org/W2101893420","https://openalex.org/W2118840382","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2152912973","https://openalex.org/W2162109810","https://openalex.org/W2171879251","https://openalex.org/W2208576078","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2545165891","https://openalex.org/W2560373509","https://openalex.org/W2580201952","https://openalex.org/W2935277128","https://openalex.org/W3011939380","https://openalex.org/W3047510305","https://openalex.org/W3095476189","https://openalex.org/W3100237930","https://openalex.org/W3124944733","https://openalex.org/W6682831323","https://openalex.org/W6789931112"],"related_works":["https://openalex.org/W2923210090","https://openalex.org/W4211139642","https://openalex.org/W2181721856","https://openalex.org/W3014594398","https://openalex.org/W2381418473","https://openalex.org/W2025879371","https://openalex.org/W2032986081","https://openalex.org/W1931336049","https://openalex.org/W1502305485","https://openalex.org/W4403119242"],"abstract_inverted_index":{"We":[0,42,89,118],"present":[1],"a":[2,45],"stepping":[3,16],"stabilization":[4],"control":[5,17,70],"that":[6,29,139],"addresses":[7],"external":[8],"push":[9,136],"disturbances":[10,82],"on":[11,21,96,124],"bipedal":[12,129],"walking":[13,56,63,109,126],"robots.":[14],"The":[15],"is":[18,30,66,142],"synthesized":[19],"based":[20],"the":[22,27,54,59,62,69,73,84,92,97,104,107,112,116,121,125,128,140],"step-to-step":[23],"(S2S)":[24],"dynamics":[25,48,100],"of":[26,38,58,115,127],"robot":[28,105,130],"controlled":[31],"to":[32,72,83,101,106,135],"have":[33],"an":[34],"approximately":[35],"constant":[36],"center":[37],"mass":[39],"(COM)":[40],"height.":[41],"first":[43],"learn":[44],"linear":[46],"S2S":[47,74,86],"with":[49],"bounded":[50],"model":[51],"discrepancy":[52],"from":[53],"undisturbed":[55],"behaviors":[57],"robot,":[60],"where":[61],"step":[64],"size":[65],"taken":[67],"as":[68,81],"input":[71],"dynamics.":[75,88],"External":[76],"pushes":[77],"are":[78],"then":[79,90],"considered":[80],"learned":[85],"(L-S2S)":[87],"apply":[91],"system-level-synthesis":[93],"(SLS)":[94],"approach":[95,123,141],"disturbed":[98],"L-S2S":[99],"robustly":[102],"stabilize":[103],"desired":[108],"while":[110],"satisfying":[111],"kinematic":[113],"constraints":[114],"robot.":[117],"successfully":[119],"realize":[120],"proposed":[122],"AMBER":[131],"and":[132,145],"Cassie":[133],"subject":[134],"disturbances,":[137],"showing":[138],"general,":[143],"effective,":[144],"computationally-efficient":[146],"for":[147],"robust":[148],"disturbance":[149],"rejection.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
