{"id":"https://openalex.org/W2117235898","doi":"https://doi.org/10.1109/icra.2012.6224882","title":"Control design to achieve dynamic walking on a bipedal robot with compliance","display_name":"Control design to achieve dynamic walking on a bipedal robot with compliance","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W2117235898","doi":"https://doi.org/10.1109/icra.2012.6224882","mag":"2117235898"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6224882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","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/A5101684717","display_name":"Bokman Lim","orcid":"https://orcid.org/0000-0002-0867-2827"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Bokman Lim","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075693727","display_name":"Minhyung Lee","orcid":"https://orcid.org/0000-0002-7072-0498"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Minhyung Lee","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089263869","display_name":"Joohyung Kim","orcid":"https://orcid.org/0000-0001-9575-2835"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joohyung Kim","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009761760","display_name":"Jusuk Lee","orcid":"https://orcid.org/0000-0002-1100-9268"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jusuk Lee","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028740314","display_name":"Jaeho Park","orcid":"https://orcid.org/0000-0002-0213-8076"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeho Park","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018351713","display_name":"Keehong Seo","orcid":"https://orcid.org/0000-0001-8480-9517"},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keehong Seo","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]},{"author_position":"last","author":{"id":null,"display_name":"Kyungshik Roh","orcid":null},"institutions":[{"id":"https://openalex.org/I2250650973","display_name":"Samsung (South Korea)","ror":"https://ror.org/04w3jy968","country_code":"KR","type":"company","lineage":["https://openalex.org/I2250650973"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyungshik Roh","raw_affiliation_strings":["Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea"],"affiliations":[{"raw_affiliation_string":"Samsung Advanced Institute of Technology, Nongseo-dong, Giheung-gu, Yongin-si Gyeonggi-do, 446-712 Korea","institution_ids":["https://openalex.org/I2250650973"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101684717"],"corresponding_institution_ids":["https://openalex.org/I2250650973"],"apc_list":null,"apc_paid":null,"fwci":1.6593,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.83608139,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"79","last_page":"84"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9979000091552734,"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":0.9758999943733215,"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/robot","display_name":"Robot","score":0.6402275562286377},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6033593416213989},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5518640875816345},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5447306632995605},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5447150468826294},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5404603481292725},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5362199544906616},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4927208721637726},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4456671178340912},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42995333671569824},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4124673008918762},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40451711416244507},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.30745428800582886},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23448076844215393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22453081607818604},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19482070207595825}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6402275562286377},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6033593416213989},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5518640875816345},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5447306632995605},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5447150468826294},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5404603481292725},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5362199544906616},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4927208721637726},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4456671178340912},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42995333671569824},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4124673008918762},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40451711416244507},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.30745428800582886},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23448076844215393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22453081607818604},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19482070207595825},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2012.6224882","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6224882","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.550000011920929,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W1483681246","https://openalex.org/W1560270123","https://openalex.org/W1987778875","https://openalex.org/W1999509819","https://openalex.org/W2040669665","https://openalex.org/W2049135373","https://openalex.org/W2080403628","https://openalex.org/W2086587468","https://openalex.org/W2103120971","https://openalex.org/W2121457380","https://openalex.org/W2126838441","https://openalex.org/W2128131727","https://openalex.org/W2136621952","https://openalex.org/W2177274602","https://openalex.org/W2539892030","https://openalex.org/W2540708670","https://openalex.org/W6660373535"],"related_works":["https://openalex.org/W2103538480","https://openalex.org/W2570818861","https://openalex.org/W2085374841","https://openalex.org/W2139139490","https://openalex.org/W2517926463","https://openalex.org/W1532677580","https://openalex.org/W1527727992","https://openalex.org/W2329529557","https://openalex.org/W2001900524","https://openalex.org/W2168918646"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,70,111],"control":[3,75],"framework":[4],"for":[5,51],"dynamic":[6,15],"bipedal":[7],"locomotion":[8],"with":[9,35,130],"compliant":[10,44],"joints.":[11],"A":[12],"novel":[13],"3D":[14],"walking":[16,83,96],"is":[17,27,67,97,108],"achieved":[18],"by":[19,29,69,88],"utilizing":[20],"natural":[21],"dynamics":[22],"of":[23,72,80],"the":[24,36,134,140],"system.":[25],"It":[26],"done":[28],"1)":[30],"driving":[31],"robot":[32,114],"joints":[33],"directly":[34],"posture-based":[37],"state":[38,73],"machine":[39,74],"and":[40,60,77,91,94,127,133],"2)":[41],"controlling":[42],"tendon-driven":[43],"actuators.":[45],"To":[46],"enlarge":[47],"gait's":[48],"basin":[49],"attraction":[50],"stable":[52],"walking,":[53],"we":[54],"also":[55],"adaptively":[56],"plan":[57],"step-to-step":[58],"motion":[59],"compensate":[61],"stance/swing":[62],"motion.":[63],"Final":[64],"joint":[65],"input":[66],"described":[68],"superposition":[71],"torques":[76,79],"compensation":[78],"balancers.":[81],"Various":[82],"styles":[84],"are":[85,122,137],"easily":[86],"generated":[87],"composing":[89],"straight":[90],"turning":[92],"gait-primitives":[93],"such":[95],"effectively":[98],"able":[99,123],"to":[100,110,124],"adapt":[101],"on":[102],"various":[103],"environments.":[104],"Our":[105],"proposed":[106],"method":[107],"applied":[109],"torque":[112],"controlled":[113],"platform,":[115],"Roboray.":[116],"Experimental":[117],"results":[118],"show":[119],"that":[120],"gaits":[121,136],"traverse":[125],"inclined":[126],"rough":[128],"terrains":[129],"bounded":[131],"variations,":[132],"result":[135],"human-like":[138],"comparing":[139],"conventional":[141],"knee":[142],"bent":[143],"walkers.":[144]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}