{"id":"https://openalex.org/W2203765078","doi":"https://doi.org/10.1109/humanoids.2015.7363470","title":"Identification of balanced states for multi-segmental legged robots using reduced-order model","display_name":"Identification of balanced states for multi-segmental legged robots using reduced-order model","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2203765078","doi":"https://doi.org/10.1109/humanoids.2015.7363470","mag":"2203765078"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","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/A5003790950","display_name":"Carlotta Mummolo","orcid":"https://orcid.org/0000-0002-4231-7183"},"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":"Carlotta Mummolo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, New York University, Brooklyn, NY, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036823929","display_name":"L. Mangialardi","orcid":"https://orcid.org/0000-0002-5376-6945"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luigi Mangialardi","raw_affiliation_strings":["Department of Mechanics, Mathematics, and Management of Polytechnic of Bari, Bari, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanics, Mathematics, and Management of Polytechnic of Bari, Bari, Italy","institution_ids":["https://openalex.org/I68618741"]}]},{"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"],"raw_orcid":null,"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":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7976,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.84030378,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"914","last_page":"919"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9891999959945679,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9865000247955322,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/legged-robot","display_name":"Legged robot","score":0.8641173839569092},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7131739854812622},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.5781939625740051},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5322031378746033},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49445652961730957},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4739675223827362},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44124457240104675},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.42667174339294434},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4217790365219116},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3298880457878113},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17821305990219116},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1328655183315277},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0957951545715332}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.8641173839569092},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7131739854812622},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.5781939625740051},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5322031378746033},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49445652961730957},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4739675223827362},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44124457240104675},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.42667174339294434},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4217790365219116},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3298880457878113},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17821305990219116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1328655183315277},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0957951545715332},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.7099999785423279,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1976196405","https://openalex.org/W1976990420","https://openalex.org/W1995795964","https://openalex.org/W2002804012","https://openalex.org/W2015685236","https://openalex.org/W2037729465","https://openalex.org/W2079995373","https://openalex.org/W2085540131","https://openalex.org/W2136997223","https://openalex.org/W2139612757","https://openalex.org/W2143729862","https://openalex.org/W2149407815","https://openalex.org/W2151378713","https://openalex.org/W2162109810","https://openalex.org/W2162462196","https://openalex.org/W2539915646","https://openalex.org/W6680431648"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W1678858522","https://openalex.org/W3195090107","https://openalex.org/W38056103","https://openalex.org/W2598699656"],"abstract_inverted_index":{"A":[0,82],"general":[1],"construction":[2],"framework":[3],"is":[4,17,86,163,185],"introduced":[5],"to":[6,56,88,122],"provide":[7,146],"three-dimensional":[8],"balance":[9],"criteria":[10,148],"for":[11,90,179,187,200],"multi-segmental":[12],"legged":[13,48,54,143,191],"robots.":[14],"The":[15,128,154,183],"approach":[16,184],"based":[18],"on":[19],"a":[20,26,46,124,160,201],"reduced-order":[21,58],"dynamic":[22],"model":[23,59],"that":[24,103],"includes":[25],"3-D":[27,101],"mechanism":[28,102],"with":[29],"minimal":[30],"number":[31],"of":[32,34,38,45,72,99,110,135,140,149,167],"degrees":[33],"freedom":[35],"(DOFs)":[36],"capable":[37],"representing":[39],"the":[40,53,57,91,100,120,133,136,141,147,164,174],"equivalent":[41],"center-of-mass":[42],"(COM)":[43],"dynamics":[44],"generic":[47],"robot.":[49],"Systematic":[50],"mappings":[51],"from":[52],"system":[55],"include":[60],"COM":[61,96],"workspace,":[62],"foot":[63],"support":[64],"region,":[65],"ground":[66],"reaction":[67],"forces":[68],"and":[69,76,79,93,119,145,172,176,189,196],"moments,":[70],"center":[71,109],"pressure,":[73],"joint":[74],"angle":[75],"actuation":[77],"limits,":[78],"angular":[80],"momentum.":[81],"numerical":[83],"optimization":[84],"algorithm":[85],"established":[87],"solve":[89],"minimum":[92],"maximum":[94],"initial":[95],"velocity":[97,130],"components":[98],"satisfy":[104],"nonlinear":[105],"constraints":[106],"such":[107],"as":[108,159],"pressure":[111],"boundaries,":[112],"positive":[113],"normal":[114],"reaction,":[115],"friction":[116],"cone":[117],"inequality,":[118],"ability":[121],"reach":[123],"final":[125],"static":[126],"equilibrium.":[127],"resulting":[129],"extrema":[131],"are":[132,198],"boundaries":[134],"balanced":[137,150,155],"state":[138,156],"domain":[139],"given":[142],"robot,":[144],"versus":[151],"falling":[152],"state.":[153],"domain,":[157],"constructed":[158],"viability":[161],"kernel,":[162],"reachable":[165],"superset":[166],"all":[168],"possible":[169],"controller-based":[170],"domains,":[171],"represents":[173],"necessary":[175],"sufficient":[177],"condition":[178],"balancing":[180],"without":[181],"stepping.":[182],"validated":[186],"1-":[188],"2-DOF":[190],"systems":[192],"in":[193],"sagittal":[194],"plane,":[195],"applications":[197],"illustrated":[199],"planar":[202],"4-DOF":[203],"biped":[204],"system.":[205]},"counts_by_year":[{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
