{"id":"https://openalex.org/W2738963603","doi":"https://doi.org/10.1109/icra.2017.7989471","title":"Passivity-based control of underactuated biped robots within hybrid zero dynamics approach","display_name":"Passivity-based control of underactuated biped robots within hybrid zero dynamics approach","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738963603","doi":"https://doi.org/10.1109/icra.2017.7989471","mag":"2738963603"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5059894624","display_name":"Hamid Sadeghian","orcid":"https://orcid.org/0000-0001-8390-3480"},"institutions":[{"id":"https://openalex.org/I39268498","display_name":"University of Isfahan","ror":"https://ror.org/05h9t7759","country_code":"IR","type":"education","lineage":["https://openalex.org/I39268498"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Hamid Sadeghian","raw_affiliation_strings":["Engineering Department, University of Isfahan, Isfahan, Iran"],"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Isfahan, Isfahan, Iran","institution_ids":["https://openalex.org/I39268498"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026735777","display_name":"Gianluca Garofalo","orcid":"https://orcid.org/0000-0002-7481-3464"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gianluca Garofalo","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Gordon Cheng","raw_affiliation_strings":["Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering and Information Technology, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5059894624"],"corresponding_institution_ids":["https://openalex.org/I39268498"],"apc_list":null,"apc_paid":null,"fwci":0.7648,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.6976366,"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":"4096","last_page":"4101"},"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":0.9923999905586243,"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":0.9901999831199646,"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":0.796653151512146},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7255609035491943},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5160079002380371},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4673042297363281},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4543950855731964},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.44172993302345276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.40181708335876465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3880825340747833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2961743474006653},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1642586588859558},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.13521459698677063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11773538589477539},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09327930212020874}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.796653151512146},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7255609035491943},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5160079002380371},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4673042297363281},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4543950855731964},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.44172993302345276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.40181708335876465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3880825340747833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2961743474006653},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1642586588859558},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.13521459698677063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11773538589477539},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09327930212020874},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2017.7989471","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989471","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:113483","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989471>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1523815250","https://openalex.org/W1552094772","https://openalex.org/W1986152369","https://openalex.org/W2001472720","https://openalex.org/W2030230337","https://openalex.org/W2047174209","https://openalex.org/W2074154222","https://openalex.org/W2075564149","https://openalex.org/W2079407617","https://openalex.org/W2101959596","https://openalex.org/W2118741873","https://openalex.org/W2119793378","https://openalex.org/W2128131727","https://openalex.org/W2128284518","https://openalex.org/W2157924809","https://openalex.org/W2171879251","https://openalex.org/W2211810156","https://openalex.org/W2227872806","https://openalex.org/W2570608497","https://openalex.org/W2571049687","https://openalex.org/W2610901891","https://openalex.org/W2997798509"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4313405128","https://openalex.org/W2164703465","https://openalex.org/W2168383058","https://openalex.org/W2143247663","https://openalex.org/W1864017312","https://openalex.org/W2050693590","https://openalex.org/W4313442219"],"abstract_inverted_index":{"The":[0,172],"concept":[1],"of":[2,21,67,92,106,138,156,174],"hybrid":[3,43],"zero":[4,60,119,188],"dynamics":[5,56,61,105,112,115,120],"is":[6,29,46,49,71,94,148,165],"a":[7,26,33,82,86,182],"promising":[8],"approach":[9,25,98],"for":[10,15,41,85],"designing":[11],"exponentially":[12,54],"stabilizing":[13],"controllers":[14],"dynamic":[16,77],"walking":[17,186],"with":[18,89,187],"some":[19],"degrees":[20],"underactuation.":[22],"By":[23,96,150],"this":[24,80,97,151],"feedback":[27],"controller":[28,84],"designed":[30],"such":[31,68],"that":[32],"stable":[34],"periodic":[35,69,158],"orbit,":[36],"within":[37],"an":[38,53],"invariant":[39],"submanifold":[40],"the":[42,59,64,75,103,107,110,114,118,125,139,144,153,157,168,175],"closed-loop":[44],"system":[45,108,141],"created.":[47],"This":[48],"usually":[50],"achieved":[51],"through":[52],"fast":[55],"transverse":[57,111,116],"to":[58,74,101,117,124,167],"manifold":[62],"and":[63],"stability":[65,136,146,155],"properties":[66],"orbit":[70,159],"then":[72],"transferred":[73],"full-order":[76,140],"system.":[78],"In":[79],"paper":[81],"passivity-based":[83],"planar":[87],"biped":[88,184],"one":[90],"degree":[91],"underactuation":[93],"designed.":[95],"we":[99],"aim":[100],"preserve":[102],"natural":[104],"in":[109,122,160,191],"(i.e.":[113],"manifold)":[121],"contrast":[123],"common":[126],"input-output":[127],"linearization":[128],"method":[129],"which":[130],"cancels":[131],"these":[132],"dynamics.":[133],"A":[134],"Lyapunov":[135],"analysis":[137,176],"based":[142],"on":[143,181],"conditional":[145],"theorem":[147],"presented.":[149],"analysis,":[152],"asymptotic":[154],"lower":[161],"dimensional":[162,170],"state":[163],"space":[164],"extended":[166],"full":[169],"space.":[171],"results":[173],"are":[177],"verified":[178],"by":[179],"simulation":[180],"seven-link":[183],"robot":[185],"ankle":[189],"torque":[190],"sagittal":[192],"plane.":[193]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}