{"id":"https://openalex.org/W3206982864","doi":"https://doi.org/10.1109/icra48506.2021.9560821","title":"One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller","display_name":"One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206982864","doi":"https://doi.org/10.1109/icra48506.2021.9560821","mag":"3206982864"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5073070876","display_name":"Yukai Gong","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Yukai Gong","raw_affiliation_strings":["University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessy Grizzle","raw_affiliation_strings":["University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109"],"affiliations":[{"raw_affiliation_string":"University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5073070876"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":3.0917,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.92075276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2832","last_page":"2838"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10653","display_name":"Robot Manipulation and Learning","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/controller","display_name":"Controller (irrigation)","score":0.6323830485343933},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5855499505996704},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.525965690612793},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.49000802636146545},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4698796570301056},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4291483163833618},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.400623619556427},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34504860639572144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3296462595462799},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2755902409553528},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2703259587287903},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2134578824043274},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.18389013409614563},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08836191892623901},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07390856742858887}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6323830485343933},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5855499505996704},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.525965690612793},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.49000802636146545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4698796570301056},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4291483163833618},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.400623619556427},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34504860639572144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3296462595462799},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2755902409553528},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2703259587287903},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2134578824043274},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.18389013409614563},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08836191892623901},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07390856742858887},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560821","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560821","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.6600000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320315934","display_name":"Toyota Research Institute","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W1504362584","https://openalex.org/W1838474595","https://openalex.org/W2002853107","https://openalex.org/W2030515455","https://openalex.org/W2033443151","https://openalex.org/W2099129715","https://openalex.org/W2133859362","https://openalex.org/W2137547873","https://openalex.org/W2138136244","https://openalex.org/W2149224990","https://openalex.org/W2151182239","https://openalex.org/W2155658243","https://openalex.org/W2199168279","https://openalex.org/W2465284394","https://openalex.org/W2539534359","https://openalex.org/W2563792846","https://openalex.org/W2570742380","https://openalex.org/W2573784347","https://openalex.org/W2761235830","https://openalex.org/W2774367037","https://openalex.org/W2963212932","https://openalex.org/W2963315892","https://openalex.org/W2972798201","https://openalex.org/W3000625188","https://openalex.org/W3003965754","https://openalex.org/W3080503886","https://openalex.org/W3145941942","https://openalex.org/W6732419548","https://openalex.org/W6782272766"],"related_works":["https://openalex.org/W1993625377","https://openalex.org/W2091189137","https://openalex.org/W3130956599","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W3105753358","https://openalex.org/W4310827482","https://openalex.org/W164144505","https://openalex.org/W2068905762","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Ultimately,":[0],"feedback":[1,43,89,154],"control":[2,22,44,105],"is":[3,55,72],"about":[4,66],"making":[5],"adjustments":[6],"using":[7],"current":[8,133],"state":[9],"information":[10],"in":[11,17,114],"order":[12],"to":[13,57,73,94,122,137],"meet":[14,138],"an":[15,139],"objective":[16,142],"the":[18,21,29,38,59,67,96,110,129,132,144,147,152,157,172,182],"future.":[19],"In":[20,48],"of":[23,28,31,63,98,116,131,146,171,176],"bipedal":[24,160],"locomotion,":[25],"linear":[26,79],"velocity":[27],"center":[30],"mass":[32,175],"has":[33],"been":[34],"widely":[35],"accepted":[36],"as":[37,92,136],"primary":[39],"variable":[40],"around":[41],"which":[42],"objectives":[45],"are":[46],"formulated.":[47],"this":[49,180],"paper,":[50],"we":[51,108],"argue":[52],"that":[53],"it":[54,71,83],"easier":[56],"predict":[58],"one-step":[60],"ahead":[61],"evolution":[62],"angular":[64,100,117,140],"momentum":[65,101,118,141],"contact":[68],"point":[69],"than":[70],"make":[74],"a":[75,85],"similar":[76],"prediction":[77],"for":[78,88,168],"velocity,":[80],"and":[81,119,194],"hence":[82],"provides":[84],"superior":[86],"quantity":[87],"control.":[90],"So":[91],"not":[93],"confuse":[95],"benefits":[97],"predicting":[99],"with":[102],"any":[103],"other":[104],"design":[106],"decisions,":[107],"reformulate":[109],"standard":[111],"LIP":[112],"model":[113],"terms":[115],"show":[120],"how":[121],"regulate":[123],"swing":[124],"foot":[125],"touchdown":[126],"position":[127],"at":[128,143],"end":[130,145],"step":[134],"so":[135],"next":[148],"step.":[149],"We":[150],"implement":[151],"resulting":[153],"controller":[155],"on":[156,196],"20":[158],"degree-of-freedom":[159],"robot,":[161],"Cassie":[162],"Blue,":[163],"where":[164],"each":[165],"leg":[166],"accounts":[167],"nearly":[169],"one-third":[170],"robot’s":[173],"total":[174],"32":[177],"Kg.":[178],"Under":[179],"controller,":[181],"robot":[183],"achieves":[184],"fast":[185],"walking,":[186,190],"rapid":[187],"turning":[188],"while":[189],"large":[191],"disturbance":[192],"rejection,":[193],"locomotion":[195],"rough":[197],"terrain.":[198]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":16},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}