{"id":"https://openalex.org/W1963750790","doi":"https://doi.org/10.1109/icarcv.2014.7064561","title":"Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal","display_name":"Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W1963750790","doi":"https://doi.org/10.1109/icarcv.2014.7064561","mag":"1963750790"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2014.7064561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","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/A5009026972","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0001-9534-5383"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["Mechanical Engineering, University of Texas at Austin, Austin, Texas","Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gray Thomas","raw_affiliation_strings":["Mechanical Engineering, University of Texas at Austin, Austin, Texas","Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Mechanical Engineering, University of Texas at Austin, Austin, Texas","Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"Mechanical Engineering, University of Texas at Austin, Austin, Texas 78712","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":4.2035,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.94064665,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"26","issue":null,"first_page":"1637","last_page":"1643"},"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":0.9771000146865845,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9724000096321106,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7705691456794739},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.769047737121582},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7419428825378418},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6688734889030457},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6209862232208252},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5900940299034119},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5347017049789429},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4669652283191681},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.46693745255470276},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.46140968799591064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3693026304244995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20654216408729553},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1565045714378357},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.1205032467842102},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09521311521530151}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7705691456794739},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.769047737121582},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7419428825378418},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6688734889030457},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6209862232208252},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5900940299034119},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5347017049789429},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4669652283191681},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.46693745255470276},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.46140968799591064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3693026304244995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20654216408729553},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1565045714378357},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.1205032467842102},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09521311521530151},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2014.7064561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2014.7064561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"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":14,"referenced_works":["https://openalex.org/W2001165022","https://openalex.org/W2026498687","https://openalex.org/W2052858498","https://openalex.org/W2070038508","https://openalex.org/W2074154222","https://openalex.org/W2131232094","https://openalex.org/W2133859362","https://openalex.org/W2161427949","https://openalex.org/W2250331966","https://openalex.org/W2337224132","https://openalex.org/W2512535099","https://openalex.org/W2539534359","https://openalex.org/W6679635951","https://openalex.org/W6726419448"],"related_works":["https://openalex.org/W2138228021","https://openalex.org/W962423920","https://openalex.org/W2259616189","https://openalex.org/W4399671601","https://openalex.org/W2387968248","https://openalex.org/W4285089922","https://openalex.org/W2129754669","https://openalex.org/W2600116237","https://openalex.org/W4313056043","https://openalex.org/W2799562489"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,9,33,38,79,91,131],"control":[4,118,133,192],"scheme":[5,193],"for":[6,214],"ensuring":[7],"that":[8,222],"3D,":[10],"under-actuated,":[11],"point-foot":[12],"biped":[13],"robot":[14],"remains":[15],"balanced":[16],"while":[17],"walking.":[18],"It":[19],"achieves":[20],"this":[21,44,83],"by":[22,180],"observing":[23],"the":[24,62,71,100,112,144,147,152,159,177,181,189,196,200],"center":[25],"of":[26,61,146,163,199],"mass":[27],"(COM)":[28],"position":[29],"error":[30,45],"relative":[31],"to":[32,42,57,69,90,104,128,173,206],"reference":[34,40],"path":[35,81,102,145],"and":[36,74,228],"re-planning":[37],"new":[39],"trajectory":[41],"remove":[43],"at":[46],"every":[47],"step.":[48,165],"The":[49],"Prismatic":[50],"Inverted":[51,202],"Pendulum":[52,203],"Model":[53,204],"(PIPM)":[54],"is":[55,86,126,137,185,212],"used":[56],"simplify":[58],"behavioral":[59],"analysis":[60],"robot.":[63],"We":[64,218],"use":[65],"phase":[66],"space":[67],"techniques":[68],"plan":[70],"COM":[72,209],"trajectories":[73],"foot":[75],"placement.":[76],"While":[77],"obtaining":[78],"stable":[80],"using":[82],"simplified":[84],"model":[85],"easy,":[87],"when":[88,120],"applied":[89],"real":[92],"robot,":[93],"there":[94],"will":[95],"usually":[96],"be":[97],"deviation":[98,113],"from":[99,176],"expected":[101],"due":[103],"modeling":[105],"inaccuracies.":[106],"Although":[107],"fully-actuated":[108],"robots":[109],"can":[110,157],"reduce":[111],"with":[114,122],"relatively":[115],"simple":[116],"feedback":[117,132],"loops,":[119],"working":[121],"under-actuated":[123],"robots,":[124],"it":[125],"challenging":[127],"design":[129],"such":[130],"loop.":[134],"Our":[135,191],"approach":[136],"based":[138,150],"on":[139,151,195],"continuous":[140],"re-planning.":[141],"By":[142],"planning":[143],"next":[148],"step":[149,168],"observed":[153],"initial":[154],"error,":[155],"we":[156,169],"find":[158],"proper":[160],"landing":[161],"location":[162],"each":[164,167],"For":[166],"allocate":[170],"sufficient":[171],"time":[172],"avoid":[174],"disturbances":[175],"moment":[178],"induced":[179],"moving":[182],"leg,":[183],"which":[184,211],"not":[186],"modeled":[187],"in":[188],"PIPM.":[190],"relies":[194],"PIPM":[197],"instead":[198],"Linear":[201],"(LIPM)":[205],"enable":[207],"non-planar":[208],"motion,":[210],"essential":[213],"rough":[215],"terrain":[216],"locomotion.":[217],"show":[219],"simulation":[220],"results":[221],"include":[223],"full":[224],"multi-body":[225],"dynamics,":[226],"friction,":[227],"ground":[229],"reaction":[230],"forces.":[231]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}