{"id":"https://openalex.org/W2912237277","doi":"https://doi.org/10.1109/humanoids.2018.8625066","title":"Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking","display_name":"Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2912237277","doi":"https://doi.org/10.1109/humanoids.2018.8625066","mag":"2912237277"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th 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/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":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena","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":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena","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":13.994,"has_fulltext":false,"cited_by_count":40,"citation_normalized_percentile":{"value":0.99601345,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"9"},"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":0.9866999983787537,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.977400004863739,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.9108889698982239},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8094422817230225},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7108898162841797},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5329343676567078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5259005427360535},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.515026330947876},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4260309934616089},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4152674674987793},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37471964955329895},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3737033009529114},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24294066429138184},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2270357310771942},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12341916561126709},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10543304681777954}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.9108889698982239},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8094422817230225},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7108898162841797},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5329343676567078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5259005427360535},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.515026330947876},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4260309934616089},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4152674674987793},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37471964955329895},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3737033009529114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24294066429138184},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2270357310771942},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12341916561126709},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10543304681777954},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2018.8625066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625066","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:92547","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184","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":0.4300000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1983542939","https://openalex.org/W2004430059","https://openalex.org/W2009317155","https://openalex.org/W2013439434","https://openalex.org/W2016582414","https://openalex.org/W2047174209","https://openalex.org/W2105676390","https://openalex.org/W2121829700","https://openalex.org/W2123402064","https://openalex.org/W2133859362","https://openalex.org/W2143717973","https://openalex.org/W2161427949","https://openalex.org/W2162109810","https://openalex.org/W2171879251","https://openalex.org/W2239166089","https://openalex.org/W2291992886","https://openalex.org/W2413990562","https://openalex.org/W2415959992","https://openalex.org/W2465284394","https://openalex.org/W2562249655","https://openalex.org/W2563792846","https://openalex.org/W2883488766"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2598699656","https://openalex.org/W4313405128"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"feedback":[4,71,99],"control":[5,111],"methodology":[6],"for":[7,19,29,64],"3D":[8,105,144],"dynamic":[9],"underactuated":[10,129,145],"bipedal":[11,152],"walking,":[12,146],"that":[13,135],"couples":[14],"an":[15],"actuated":[16],"spring-loaded-inverted-pendulum":[17],"(aSLIP)":[18],"forward":[20],"walking":[21,92,106],"and":[22,51,54,82,93,131],"the":[23,35,56,78,85,90,102,120,128,151],"passive":[24],"Linear":[25],"Inverted":[26],"Pendulum":[27],"(LIP)":[28],"lateral":[30,65,94],"balancing.":[31],"The":[32,97,140],"applications":[33],"of":[34],"reduced":[36,79,121],"order":[37,80,104,122],"models":[38,81,123],"are":[39,75,124,136],"twofold.":[40],"First,":[41],"we":[42,68],"utilize":[43],"aSLIP":[44],"optimization":[45],"to":[46,59,88,126],"design":[47],"optimal":[48],"leg":[49],"length":[50],"angle":[52],"trajectories,":[53],"use":[55],"LIP":[57],"dynamics":[58,130],"find":[60],"desired":[61,133],"boundary":[62],"condition":[63],"roll.":[66],"Second,":[67],"present":[69],"two":[70],"stabilization":[72],"laws":[73],"which":[74],"based":[76,114],"on":[77,84,101,150],"applied":[83],"full":[86,103],"robot":[87,107,153],"stabilize":[89],"sagittal":[91],"balancing":[95],"separately.":[96],"ultimate":[98],"controller":[100],"is":[108,143],"implemented":[109],"via":[110,138],"Lyapunov":[112],"function":[113],"Quadratic":[115],"Programs":[116],"(CLF-QPs).":[117],"In":[118],"particular,":[119],"used":[125],"approximate":[127],"plan":[132],"trajectories":[134],"tracked":[137],"CLF-QPs.":[139],"end":[141],"result":[142],"demonstrated":[147],"in":[148],"simulation":[149],"Cassie.":[154]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":8}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}