{"id":"https://openalex.org/W2908285172","doi":"https://doi.org/10.1109/icarcv.2018.8581083","title":"A Study of the Relationship between a Mechanical Coupling Metric and Gait Characteristics for an Ankle-Actuated Biped Robot","display_name":"A Study of the Relationship between a Mechanical Coupling Metric and Gait Characteristics for an Ankle-Actuated Biped Robot","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2908285172","doi":"https://doi.org/10.1109/icarcv.2018.8581083","mag":"2908285172"},"language":"en","primary_location":{"id":"doi:10.1109/icarcv.2018.8581083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","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/A5029245145","display_name":"Tan Chen","orcid":"https://orcid.org/0000-0002-4199-8706"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tan Chen","raw_affiliation_strings":["Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073029557","display_name":"James P. Schmiedeler","orcid":"https://orcid.org/0000-0002-1692-4414"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James P. Schmiedeler","raw_affiliation_strings":["Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042951623","display_name":"Bill Goodwine","orcid":"https://orcid.org/0000-0001-5850-4920"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bill Goodwine","raw_affiliation_strings":["Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Aerospace & Mechanical Engineering, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I107639228"],"apc_list":null,"apc_paid":null,"fwci":0.3345,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59447662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"1180","last_page":"1185"},"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":0.9969000220298767,"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":0.9649999737739563,"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":0.7761740684509277},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6601079702377319},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.6575549840927124},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6386781334877014},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5674952268600464},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5460952520370483},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5180073380470276},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.47808218002319336},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4565349221229553},{"id":"https://openalex.org/keywords/magnitude","display_name":"Magnitude (astronomy)","score":0.42117026448249817},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.34241217374801636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2138589322566986},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2030797302722931},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1312214732170105},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10348451137542725},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.07274481654167175}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7761740684509277},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6601079702377319},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.6575549840927124},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6386781334877014},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5674952268600464},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5460952520370483},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5180073380470276},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.47808218002319336},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4565349221229553},{"id":"https://openalex.org/C126691448","wikidata":"https://www.wikidata.org/wiki/Q2028919","display_name":"Magnitude (astronomy)","level":2,"score":0.42117026448249817},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.34241217374801636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2138589322566986},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2030797302722931},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1312214732170105},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10348451137542725},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.07274481654167175},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarcv.2018.8581083","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarcv.2018.8581083","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W57077127","https://openalex.org/W129037336","https://openalex.org/W1504362584","https://openalex.org/W1521543878","https://openalex.org/W1526187193","https://openalex.org/W1639534865","https://openalex.org/W1889109853","https://openalex.org/W1974902982","https://openalex.org/W1993314711","https://openalex.org/W1996763811","https://openalex.org/W2022971533","https://openalex.org/W2023392182","https://openalex.org/W2037729465","https://openalex.org/W2046267974","https://openalex.org/W2046850476","https://openalex.org/W2051287096","https://openalex.org/W2079407617","https://openalex.org/W2086979750","https://openalex.org/W2092535029","https://openalex.org/W2098196912","https://openalex.org/W2128131727","https://openalex.org/W2134581541","https://openalex.org/W2138671676","https://openalex.org/W2141609582","https://openalex.org/W2157144668","https://openalex.org/W2157924809","https://openalex.org/W2161643831","https://openalex.org/W2163668399","https://openalex.org/W2610901891","https://openalex.org/W2757841873","https://openalex.org/W2758176302","https://openalex.org/W2789316480","https://openalex.org/W3143589474","https://openalex.org/W6605225115","https://openalex.org/W6631121067"],"related_works":["https://openalex.org/W2363225614","https://openalex.org/W2358580561","https://openalex.org/W2090655727","https://openalex.org/W781058189","https://openalex.org/W2253287589","https://openalex.org/W2319945395","https://openalex.org/W2150864167","https://openalex.org/W2317947966","https://openalex.org/W2331913571","https://openalex.org/W2744891159"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,79,83],"study":[4],"of":[5,11,19,31,33,54,74,85,99,111,127,165],"the":[6,9,14,27,34,43,51,72,75,97,100,105,108,120,124,150,158],"relationship":[7],"between":[8,13,119],"magnitude":[10,126],"coupling":[12,45,55,60,121,144,152,172],"actuated":[15],"and":[16,26,29,96,123,173],"unactuated":[17],"degrees":[18],"freedom":[20],"for":[21],"an":[22],"ankle-actuated":[23,86],"biped":[24,81],"robot":[25],"robustness":[28],"cost":[30,164],"transport":[32,166],"gait.":[35],"It":[36,135],"extends":[37],"prior":[38],"results":[39],"that":[40,65,107,129,137,149],"considered":[41],"only":[42],"instantaneous":[44],"at":[46],"individual":[47],"poses":[48],"to":[49,141,156],"analyze":[50],"cumulative":[52],"effects":[53],"over":[56],"entire":[57],"trajectories.":[58],"The":[59,117],"metric":[61,122],"is":[62,94,102,115,133],"general":[63],"in":[64,104],"it":[66],"can":[67,130],"be":[68,131,154,176],"computed":[69],"directly":[70],"from":[71],"Lagrangian":[73],"system.":[76],"By":[77],"using":[78],"two-link":[80],"model,":[82],"family":[84],"candidate":[87],"gaits":[88,101,139,161],"defined":[89],"by":[90],"fourth-order":[91],"B\u00e9zier":[92],"polynomials":[93],"generated,":[95],"feasibility":[98],"verified":[103],"sense":[106],"unilateral":[109],"constraint":[110],"ground":[112],"reaction":[113],"force":[114],"satisfied.":[116],"correlation":[118],"maximum":[125],"disturbance":[128,147],"rejected":[132],"significant.":[134],"indicates":[136],"robust":[138],"tend":[140],"have":[142,170],"small":[143],"under":[145,167],"zero":[146,168],"so":[148],"\u201creserve\u201d":[151],"may":[153],"utilized":[155],"reject":[157],"disturbance.":[159],"Moreover,":[160],"with":[162],"smaller":[163,171],"disturbances":[169],"therefore":[174],"should":[175],"more":[177],"robust.":[178]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
