{"id":"https://openalex.org/W1995837849","doi":"https://doi.org/10.1109/icra.2012.6225307","title":"Regulating speed and generating large speed transitions in a neuromuscular human walking model","display_name":"Regulating speed and generating large speed transitions in a neuromuscular human walking model","publication_year":2012,"publication_date":"2012-05-01","ids":{"openalex":"https://openalex.org/W1995837849","doi":"https://doi.org/10.1109/icra.2012.6225307","mag":"1995837849"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2012.6225307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225307","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/A5085496292","display_name":"Seungmoon Song","orcid":"https://orcid.org/0000-0002-4358-5948"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Seungmoon Song","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078844630","display_name":"Hartmut Geyer","orcid":"https://orcid.org/0000-0003-3238-3299"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hartmut Geyer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute Carnegie Mellon University 5000 Forbes Avenue Pittsburgh PA 15213 USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085496292"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.1116,"has_fulltext":false,"cited_by_count":51,"citation_normalized_percentile":{"value":0.90848165,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"511","last_page":"516"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5963812470436096},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.595758318901062},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.590710461139679},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.5805069208145142},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.5712462663650513},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4743943214416504},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4725109040737152},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4716329276561737},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.45495525002479553},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.421405553817749},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3793914020061493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27731090784072876},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.18291160464286804},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.17675736546516418},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1707356870174408},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16393813490867615},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10913202166557312}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5963812470436096},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.595758318901062},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.590710461139679},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.5805069208145142},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.5712462663650513},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4743943214416504},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4725109040737152},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4716329276561737},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.45495525002479553},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.421405553817749},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3793914020061493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27731090784072876},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.18291160464286804},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.17675736546516418},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1707356870174408},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16393813490867615},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10913202166557312},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2012.6225307","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2012.6225307","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.360.5946","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.360.5946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.cmu.edu/%7Ehgeyer/Publications/Song%26Geyer12IEEEICRA.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W102487131","https://openalex.org/W211269454","https://openalex.org/W1526473519","https://openalex.org/W1966017800","https://openalex.org/W1981932940","https://openalex.org/W1996957169","https://openalex.org/W2038226953","https://openalex.org/W2045368698","https://openalex.org/W2053598940","https://openalex.org/W2061227856","https://openalex.org/W2077341085","https://openalex.org/W2085547792","https://openalex.org/W2089410383","https://openalex.org/W2095661097","https://openalex.org/W2104265303","https://openalex.org/W2105821531","https://openalex.org/W2116951991","https://openalex.org/W2121441566","https://openalex.org/W2127908581","https://openalex.org/W2140497618","https://openalex.org/W2147809815","https://openalex.org/W2150376634","https://openalex.org/W2478562489","https://openalex.org/W4235915310"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W1991876829","https://openalex.org/W2295425790","https://openalex.org/W2789522126","https://openalex.org/W2088677124","https://openalex.org/W2122369027","https://openalex.org/W2218699221","https://openalex.org/W1996614427"],"abstract_inverted_index":{"Although":[0],"current":[1],"humanoid":[2,14],"controllers":[3],"can":[4,82,181],"rely":[5],"on":[6,77],"inverse":[7],"kinematics":[8],"or":[9,19],"dynamics":[10,55],"of":[11,33,71,100,112,139,166],"the":[12,30,34,40,113,137,163,167],"full":[13,31],"system,":[15],"powered":[16],"prosthetic":[17],"legs":[18],"assistive":[20],"devices":[21],"cannot,":[22],"because":[23],"they":[24],"do":[25],"not":[26],"have":[27,66],"access":[28],"to":[29,49,94,96,104,172],"states":[32],"human":[35,72],"system.":[36],"This":[37],"limitation":[38],"creates":[39],"need":[41],"for":[42,122],"alternative":[43],"control":[44,57,69,115,169],"strategies.":[45],"One":[46],"strategy":[47],"is":[48],"embed":[50],"fundamental":[51],"knowledge":[52],"about":[53],"legged":[54],"and":[56,103,117,130,155,176],"in":[58,184],"local":[59,78,185],"feedback.":[60,79],"In":[61,158],"a":[62,68,97],"previous":[63],"paper,":[64],"we":[65,90,149,160],"developed":[67],"model":[70,81,93],"locomotion":[73],"which":[74,142],"relies":[75],"mostly":[76],"The":[80],"robustly":[83],"walk":[84],"at":[85,141],"normal":[86],"walking":[87,101,124,174],"speeds.":[88],"Here":[89],"extend":[91],"this":[92],"adapt":[95],"wide":[98],"range":[99,138],"speeds":[102],"generate":[105],"corresponding":[106],"speed":[107,140,151],"transitions.":[108],"We":[109],"use":[110],"optimization":[111],"model's":[114],"parameters":[116,120,170],"find":[118],"key":[119],"responsible":[121],"steady":[123],"between":[125,153],"0.8ms":[126],"<sup":[127,132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[128,133],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">-1</sup>":[129,134],"1.8ms":[131],",":[135],"covering":[136],"humans":[143],"normally":[144],"walk.":[145],"Using":[146],"these":[147,179],"parameters,":[148],"demonstrate":[150],"transitions":[152],"slow":[154],"fast":[156],"walking.":[157],"addition,":[159],"discuss":[161],"how":[162,178],"speed-dependent":[164],"changes":[165,180],"identified":[168],"connect":[171],"biped":[173],"dynamics,":[175],"suggest":[177],"be":[182],"integrated":[183],"feedback":[186],"control.":[187]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5}],"updated_date":"2026-04-22T08:38:42.863108","created_date":"2025-10-10T00:00:00"}