{"id":"https://openalex.org/W1563911911","doi":"https://doi.org/10.1109/icra.2015.7139907","title":"Self-stabilization of 3D walking via vertical oscillations of the hip","display_name":"Self-stabilization of 3D walking via vertical oscillations of the hip","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1563911911","doi":"https://doi.org/10.1109/icra.2015.7139907","mag":"1563911911"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-02397690","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053183805","display_name":"Christine Chevallereau","orcid":"https://orcid.org/0000-0002-1929-5211"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Christine Chevallereau","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, France","IRCCyN, CNRS, Nantes University, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, France","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"IRCCyN, CNRS, Nantes University, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Yannick Aoustin","raw_affiliation_strings":["IRCCyN, Ecole Centrale de Nantes, France","IRCCyN, CNRS, Nantes University, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IRCCyN, Ecole Centrale de Nantes, France","institution_ids":["https://openalex.org/I100445878"]},{"raw_affiliation_string":"IRCCyN, CNRS, Nantes University, Ecole Centrale de Nantes, 1 rue de la No\u00eb, 44321 cedex 3, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5088","last_page":"5093"},"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":0.9961000084877014,"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":0.991599977016449,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.8169196844100952},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.7310829758644104},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.6221053600311279},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.6199727058410645},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.6137130260467529},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5604338049888611},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.5206295847892761},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5062586665153503},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4725187420845032},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4492741823196411},{"id":"https://openalex.org/keywords/synchronization","display_name":"Synchronization (alternating current)","score":0.4396606683731079},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.42981940507888794},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3241438865661621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2989450693130493},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2835327386856079},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2563689947128296},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20363980531692505},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17411017417907715},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1548483967781067},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.14382457733154297},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12737837433815002},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.10824674367904663}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8169196844100952},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.7310829758644104},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.6221053600311279},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.6199727058410645},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.6137130260467529},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5604338049888611},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.5206295847892761},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5062586665153503},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4725187420845032},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4492741823196411},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.4396606683731079},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.42981940507888794},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3241438865661621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2989450693130493},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2835327386856079},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2563689947128296},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20363980531692505},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17411017417907715},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1548483967781067},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.14382457733154297},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12737837433815002},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.10824674367904663},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139907","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139907","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02397690v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02397690","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, &#x27E8;10.1109/ICRA.2015.7139907&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02397690v1","is_oa":true,"landing_page_url":"https://hal.science/hal-02397690","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA), May 2015, Seattle, United States. pp.5088-5093, &#x27E8;10.1109/ICRA.2015.7139907&#x27E9;","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W579997821","https://openalex.org/W1504362584","https://openalex.org/W1993314711","https://openalex.org/W2002804012","https://openalex.org/W2030515455","https://openalex.org/W2034207691","https://openalex.org/W2047174209","https://openalex.org/W2049904216","https://openalex.org/W2065942939","https://openalex.org/W2079407617","https://openalex.org/W2090252028","https://openalex.org/W2114145903","https://openalex.org/W2120693140","https://openalex.org/W2123402064","https://openalex.org/W2125126490","https://openalex.org/W2140350508","https://openalex.org/W2145477224","https://openalex.org/W2151114014","https://openalex.org/W2163668399","https://openalex.org/W2341903133","https://openalex.org/W2685220948","https://openalex.org/W3147253688","https://openalex.org/W6651165586","https://openalex.org/W6681046573","https://openalex.org/W6740337202"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2745063183","https://openalex.org/W2389023277","https://openalex.org/W962423920","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W2661345901","https://openalex.org/W2170755073","https://openalex.org/W3045553226"],"abstract_inverted_index":{"Actual":[0],"control":[1,60,180],"of":[2,19,22,24,31,43,61,72,86,99,103,106,116,125,132,143,146,156,165],"most":[3],"humanoid":[4],"robots":[5],"is":[6,36,46,93,134],"based":[7,112],"on":[8,65,113],"the":[9,20,25,29,44,57,62,73,87,97,104,114,117,121,126,130,141,144,149,166,169],"3D":[10],"linear":[11],"inverted":[12,69],"pendulum":[13,70],"and":[14,148,171],"assumes":[15],"an":[16],"horizontal":[17,101],"displacement":[18],"center":[21,30,105,145],"mass":[23,32,147],"robot":[26],"while":[27,89],"obviously":[28],"in":[33,96,168],"human":[34],"walking":[35,150,157],"characterized":[37],"by":[38],"vertical":[39,80],"oscillations.":[40],"The":[41,108,123],"objective":[42],"paper":[45],"to":[47,136,181],"show":[48],"that":[49,79,175],"these":[50],"oscillations":[51,81],"have":[52],"a":[53,66,83,100,138,153,162,177],"crucial":[54],"role":[55],"for":[56],"high":[58],"level":[59,179],"walk.":[63,122],"Based":[64],"controlled":[67],"length":[68],"model":[71],"walker,":[74],"it":[75],"will":[76],"be":[77],"shown":[78],"induce":[82],"self":[84,91,163],"stabilization":[85,92],"walk":[88],"this":[90],"not":[94],"observed":[95],"case":[98],"motion":[102,167],"mass.":[107],"results":[109],"are":[110],"essentially":[111],"evolution":[115],"angular":[118,127],"momentum":[119,128],"throughout":[120],"decrease":[124],"during":[129],"change":[131],"support":[133],"determinant":[135],"introduce":[137],"dependence":[139],"between":[140],"path":[142],"velocity.":[151],"For":[152],"large":[154],"set":[155],"characteristics":[158],"(stride,":[159],"velocity":[160],"...)":[161],"synchronization":[164],"sagittal":[170],"frontal":[172],"planes":[173],"appears":[174],"allows":[176],"low":[178],"produce":[182],"stable":[183],"cyclic":[184],"gaits.":[185]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
