{"id":"https://openalex.org/W1582616166","doi":"https://doi.org/10.1109/icra.2015.7139909","title":"Touch-down angle control for spring-mass walking","display_name":"Touch-down angle control for spring-mass walking","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1582616166","doi":"https://doi.org/10.1109/icra.2015.7139909","mag":"1582616166"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139909","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":"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/A5082845468","display_name":"Hamid Vejdani","orcid":"https://orcid.org/0000-0001-5352-9846"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hamid Reza Vejdani","raw_affiliation_strings":["School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, Oregon, USA","School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, Oregon, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089508535","display_name":"Albert Wu","orcid":"https://orcid.org/0000-0003-1894-8716"},"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":"Albert Wu","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, PA, USA","Robotics Institute, Carnegie Mellon University, PA USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, PA USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","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, PA, USA","Robotics Institute, Carnegie Mellon University, PA USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, PA USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026407792","display_name":"Jonathan Hurst","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan W Hurst","raw_affiliation_strings":["School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, Oregon, USA","School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, USA"],"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, Oregon, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"School of Mechanical, Industrial and Manufacturing Engineering at Oregon State University, USA","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5082845468"],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":1.5932,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.81736617,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"5101","last_page":"5106"},"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":0.9958000183105469,"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":0.988099992275238,"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/control-theory","display_name":"Control theory (sociology)","score":0.7267823219299316},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.6880677938461304},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.5722456574440002},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5603255033493042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.51827472448349},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5026555061340332},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.46181854605674744},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4448711574077606},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.42467761039733887},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3697938919067383},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2584468126296997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19422376155853271},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13377082347869873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11132675409317017},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.10733810067176819}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7267823219299316},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.6880677938461304},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.5722456574440002},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5603255033493042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.51827472448349},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5026555061340332},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.46181854605674744},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4448711574077606},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.42467761039733887},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3697938919067383},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2584468126296997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19422376155853271},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13377082347869873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11132675409317017},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.10733810067176819},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139909","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.7300000190734863}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1964007058","https://openalex.org/W1983815930","https://openalex.org/W1989385609","https://openalex.org/W1993314711","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2016102421","https://openalex.org/W2016582414","https://openalex.org/W2021068971","https://openalex.org/W2066472489","https://openalex.org/W2068261317","https://openalex.org/W2083588185","https://openalex.org/W2088381757","https://openalex.org/W2097822673","https://openalex.org/W2121829700","https://openalex.org/W2123402064","https://openalex.org/W2126727220","https://openalex.org/W2127981366","https://openalex.org/W2129224530","https://openalex.org/W2132714442","https://openalex.org/W2137547873","https://openalex.org/W2167374596","https://openalex.org/W2170320699","https://openalex.org/W2242890516","https://openalex.org/W2337224132","https://openalex.org/W2464402939","https://openalex.org/W6690574396"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W804621235","https://openalex.org/W2733937007","https://openalex.org/W1561809125","https://openalex.org/W2170933721","https://openalex.org/W2099808884","https://openalex.org/W809819843","https://openalex.org/W2137951129","https://openalex.org/W3108637452","https://openalex.org/W2389007908"],"abstract_inverted_index":{"In":[0],"this":[1,133],"paper":[2],"we":[3,104,167],"propose":[4],"the":[5,18,36,40,42,46,51,56,79,82,86,92,95,99,106,115,121,127,141,144,169,190,199],"fastest":[6,116],"converging":[7],"control":[8,53,96,109,135],"policy":[9,110,170],"(also":[10],"known":[11],"as":[12,24,50,89,91],"deadbeat":[13,108],"control)":[14],"for":[15,120],"walking":[16,74,152,177],"with":[17,114],"bipedal":[19],"spring-mass":[20],"model,":[21],"which":[22,132],"serves":[23],"an":[25],"abstraction":[26],"of":[27,39,45,55,81,94,101,129,140,143,164],"a":[28,138],"robot":[29],"on":[30,178],"compliant":[31],"legs.":[32],"To":[33],"fully":[34],"leverage":[35],"passive":[37],"dynamics":[38,80],"system,":[41],"touchdown":[43],"angle":[44],"swing-leg":[47],"is":[48,137],"assigned":[49],"only":[52],"input":[54],"system.":[57,122,145],"We":[58,76,185],"show":[59,149,186],"that":[60,111,150,181,189],"two":[61,204],"steps":[62],"(or":[63],"one":[64],"stride)":[65],"are":[66],"necessary":[67],"and":[68,196],"sufficient":[69],"to":[70,72,84,171,175,198],"converge":[71],"target":[73],"gaits.":[75],"first":[77],"analyze":[78],"system":[83,191],"identify":[85],"limit":[87],"cycles":[88],"well":[90],"limitations":[93],"authority":[97],"within":[98],"definition":[100],"walking.":[102],"Then,":[103],"present":[105],"two-step":[107,134],"guarantees":[112],"stability":[113],"possible":[117],"convergence":[118],"rate":[119],"For":[123],"each":[124],"equilibrium":[125,201],"gait,":[126],"basin":[128],"attraction":[130],"in":[131,187,203],"exists":[136],"measure":[139],"robustness":[142],"The":[146],"simulation":[147,188],"results":[148],"human-like":[151],"gaits":[153],"(double":[154],"hump":[155],"ground":[156,180],"reaction":[157],"force":[158],"profile)":[159],"have":[160],"relatively":[161],"large":[162],"basins":[163],"attraction.":[165],"Finally,":[166],"extend":[168],"various":[172,194],"energy":[173],"levels":[174],"accommodate":[176],"uneven":[179],"has":[182],"height":[183],"changes.":[184],"indeed":[192],"rejects":[193],"disturbances":[195],"converges":[197],"desired":[200],"gait":[202],"steps.":[205]},"counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}