{"id":"https://openalex.org/W4383066597","doi":"https://doi.org/10.1109/icra48891.2023.10160278","title":"Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion","display_name":"Bipedal Robot Walking Control Using Human Whole-Body Dynamic Telelocomotion","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383066597","doi":"https://doi.org/10.1109/icra48891.2023.10160278"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5083626035","display_name":"Guillermo Colin","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Guillermo Colin","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010758212","display_name":"Youngwoo Sim","orcid":"https://orcid.org/0000-0002-8976-6621"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Youngwoo Sim","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025315784","display_name":"Jo\u00e3o Ramos","orcid":"https://orcid.org/0000-0002-3562-0117"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao Ramos","raw_affiliation_strings":["University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana-Champaign,Department of Mechanical Science and Engineering,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5083626035"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.7875,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67738415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"12191","last_page":"12197"},"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":0.9983000159263611,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9918000102043152,"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/robot","display_name":"Robot","score":0.7518821954727173},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7035309672355652},{"id":"https://openalex.org/keywords/teleoperation","display_name":"Teleoperation","score":0.6634421944618225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5670653581619263},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5035912394523621},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.47372737526893616},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42837584018707275},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42180299758911133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41399580240249634},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36431628465652466},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3302009701728821},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30224183201789856}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7518821954727173},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7035309672355652},{"id":"https://openalex.org/C161759796","wikidata":"https://www.wikidata.org/wiki/Q3982902","display_name":"Teleoperation","level":3,"score":0.6634421944618225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5670653581619263},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5035912394523621},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.47372737526893616},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42837584018707275},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42180299758911133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41399580240249634},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36431628465652466},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3302009701728821},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30224183201789856}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160278","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160278","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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","score":0.5600000023841858,"display_name":"Peace, Justice and strong institutions"}],"awards":[{"id":"https://openalex.org/G6627193063","display_name":null,"funder_award_id":"CMMI-2043339","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W290152346","https://openalex.org/W1945123189","https://openalex.org/W1998938117","https://openalex.org/W2047174209","https://openalex.org/W2074042377","https://openalex.org/W2204621143","https://openalex.org/W2539534359","https://openalex.org/W2774671814","https://openalex.org/W2806547618","https://openalex.org/W2849224968","https://openalex.org/W2890824726","https://openalex.org/W2891112931","https://openalex.org/W2914653242","https://openalex.org/W2982341362","https://openalex.org/W3003965754","https://openalex.org/W3010904850","https://openalex.org/W3010967156","https://openalex.org/W3035707643","https://openalex.org/W3080503886","https://openalex.org/W3206363598","https://openalex.org/W4205201328","https://openalex.org/W4221164057","https://openalex.org/W4225865424","https://openalex.org/W6768848979"],"related_works":["https://openalex.org/W4315881361","https://openalex.org/W4318953217","https://openalex.org/W2543019745","https://openalex.org/W4293926484","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110"],"abstract_inverted_index":{"For":[0],"humanoids":[1],"to":[2,27,69,92,109,116,129,152,197],"be":[3],"deployed":[4],"in":[5],"demanding":[6],"situations,":[7],"such":[8],"as":[9,86],"search":[10],"and":[11,17,34,101,113,132,140,171,181,195],"rescue,":[12],"highly":[13],"intelligent":[14],"decision":[15],"making":[16],"proficient":[18],"sensorimotor":[19],"skill":[20],"is":[21,26,150],"expected.":[22],"A":[23,142],"promising":[24],"solution":[25],"leverage":[28],"human":[29,35,55,73,82,111,127,166,193],"prowess":[30],"by":[31,106],"interconnecting":[32],"robot":[33,91,102,115,149,177],"via":[36],"teleoperation.":[37],"Towards":[38],"creating":[39],"seamless":[40],"operation,":[41],"this":[42],"paper":[43],"presents":[44],"a":[45,54,61,67,71,81,87,175,188],"dynamic":[46,118,154],"telelocomotion":[47],"framework":[48],"that":[49,164],"synchronizes":[50],"the":[51,58,77,90,95,98,110,114,121,126,137,148,165],"gait":[52],"of":[53,60,80,97,174],"pilot":[56,83,112,128,167],"with":[57],"walking":[59,74,99,103,138],"bipedal":[62],"robot.":[63,141],"First,":[64],"we":[65,162],"introduce":[66],"method":[68],"generate":[70],"virtual":[72],"model":[75],"from":[76],"stepping":[78],"behavior":[79],"which":[84],"serves":[85],"reference":[88,100,139],"for":[89,147],"walk.":[93],"Second,":[94],"dynamics":[96],"are":[104],"synchronized":[105],"applying":[107],"forces":[108],"achieve":[117,169],"similarity":[119,155],"between":[120,136],"two":[122],"systems.":[123],"This":[124,185],"enables":[125],"continuously":[130],"perceive":[131],"cancel":[133],"any":[134],"asynchrony":[135],"consistent":[143],"step":[144,157,190],"placement":[145],"strategy":[146],"derived":[151],"maintain":[153],"through":[156,178],"transitions.":[158],"Using":[159],"our":[160],"human-machine-interface,":[161],"demonstrate":[163],"can":[168],"stable":[170],"synchronous":[172],"teleoperation":[173],"simulated":[176],"stepping-in-place,":[179],"walking,":[180],"disturbance":[182],"rejection":[183],"experiments.":[184],"work":[186],"provides":[187],"fundamental":[189],"towards":[191],"transferring":[192],"intelligence":[194],"reflexes":[196],"humanoid":[198],"robots.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}