{"id":"https://openalex.org/W3205843978","doi":"https://doi.org/10.1109/icra48506.2021.9561961","title":"Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning","display_name":"Global Position Control on Underactuated Bipedal Robots: Step-to-step Dynamics Approximation for Step Planning","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205843978","doi":"https://doi.org/10.1109/icra48506.2021.9561961","mag":"3205843978"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561961","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/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Xiong","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080901578","display_name":"Jenna Reher","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jenna Reher","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6133,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.82254664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"2825","last_page":"2831"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9977999925613403,"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":0.9965999722480774,"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/underactuation","display_name":"Underactuation","score":0.8556506633758545},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6245536208152771},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6052994728088379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5778825283050537},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.537741482257843},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5374683737754822},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4838356077671051},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4634515941143036},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41204094886779785},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41045117378234863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2875669598579407},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2219589650630951},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09263831377029419},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.09253841638565063},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.054439008235931396}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8556506633758545},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6245536208152771},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6052994728088379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5778825283050537},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.537741482257843},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5374683737754822},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4838356077671051},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4634515941143036},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41204094886779785},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41045117378234863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2875669598579407},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2219589650630951},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09263831377029419},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.09253841638565063},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.054439008235931396},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561961","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":[{"score":0.7300000190734863,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W187917816","https://openalex.org/W1499897531","https://openalex.org/W1500527895","https://openalex.org/W1516488188","https://openalex.org/W1524886571","https://openalex.org/W1601803999","https://openalex.org/W1993314711","https://openalex.org/W1994275787","https://openalex.org/W2013439434","https://openalex.org/W2016102421","https://openalex.org/W2019606703","https://openalex.org/W2037729465","https://openalex.org/W2051561438","https://openalex.org/W2081683070","https://openalex.org/W2119778835","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2161427949","https://openalex.org/W2171879251","https://openalex.org/W2239166089","https://openalex.org/W2333533581","https://openalex.org/W2465284394","https://openalex.org/W2735010720","https://openalex.org/W2736095021","https://openalex.org/W2754355613","https://openalex.org/W2768163621","https://openalex.org/W2806858658","https://openalex.org/W2810565864","https://openalex.org/W2883488766","https://openalex.org/W2891303851","https://openalex.org/W2894593111","https://openalex.org/W2912237277","https://openalex.org/W2914653242","https://openalex.org/W2961778139","https://openalex.org/W2972318980","https://openalex.org/W3003712039","https://openalex.org/W3035707643","https://openalex.org/W3047510305","https://openalex.org/W3091282566","https://openalex.org/W3093332070","https://openalex.org/W3100237930","https://openalex.org/W3101144081","https://openalex.org/W3102819858","https://openalex.org/W3124944733","https://openalex.org/W3132674053","https://openalex.org/W3205282600","https://openalex.org/W6784963739","https://openalex.org/W6785522926","https://openalex.org/W6789931112"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W4394636324"],"abstract_inverted_index":{"Global":[0],"position":[1,42,110],"control":[2,111],"for":[3,40,108,122],"underactuated":[4,37,144],"bipedal":[5,38,145],"walking":[6,51,59],"is":[7,67,103,130,139],"a":[8,152],"challenging":[9],"problem":[10],"due":[11],"to":[12,84,105,125],"the":[13,18,21,28,49,53,58,61,64,70,73,78,82,87,89,106,123,133,142],"lack":[14],"of":[15,20,48,57,60],"actuation":[16],"on":[17,35,77,141],"feet":[19],"robots.":[22],"In":[23],"this":[24],"paper,":[25],"we":[26],"apply":[27],"Hybrid-Linear":[29],"Inverted":[30],"Pendulum":[31],"(H-LIP)":[32],"based":[33,76],"stepping":[34,116],"3D":[36,143],"robots":[39],"global":[41,109],"control.":[43],"The":[44,114,136],"step-to-step":[45],"(S2S)":[46],"dynamics":[47,56],"H-LIP":[50,79,107,115],"approximates":[52],"actual":[54],"S2S":[55],"robot,":[62],"where":[63],"step":[65,120,134],"size":[66],"considered":[68],"as":[69],"input.":[71],"Thus":[72],"feedback":[74],"controller":[75],"approximately":[80],"controls":[81],"robot":[83,124,146],"behave":[85],"like":[86],"H-LIP,":[88],"differences":[90],"between":[91],"which":[92],"stay":[93],"in":[94,112,148],"an":[95],"error":[96],"invariant":[97],"set.":[98],"Model":[99],"Predictive":[100],"Control":[101],"(MPC)":[102],"applied":[104],"3D.":[113],"then":[117],"generates":[118],"desired":[119],"sizes":[121],"track.":[126],"Moreover,":[127],"turning":[128],"behavior":[129],"integrated":[131],"with":[132,151],"planning.":[135],"proposed":[137],"framework":[138],"verified":[140],"Cassie":[147],"simulation":[149],"together":[150],"proof-of-concept":[153],"experiment.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":10},{"year":2020,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
