{"id":"https://openalex.org/W4413925978","doi":"https://doi.org/10.1109/icra55743.2025.11128531","title":"Zippy: The Smallest Power-Autonomous Bipedal Robot","display_name":"Zippy: The Smallest Power-Autonomous Bipedal Robot","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925978","doi":"https://doi.org/10.1109/icra55743.2025.11128531"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5080160012","display_name":"S.Y. Man","orcid":"https://orcid.org/0009-0007-2102-0667"},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I4210165909","display_name":"Mesh Robotics (United States)","ror":"https://ror.org/05yj8y167","country_code":"US","type":"company","lineage":["https://openalex.org/I4210165909"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Steven Man","raw_affiliation_strings":["Robotics Institute,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4210165909","https://openalex.org/I4210114355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047837428","display_name":"Soma Narita","orcid":null},"institutions":[{"id":"https://openalex.org/I37693276","display_name":"York College of Pennsylvania","ror":"https://ror.org/02ssn3c97","country_code":"US","type":"education","lineage":["https://openalex.org/I37693276"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Soma Narita","raw_affiliation_strings":["College of Engineering,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I37693276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109020875","display_name":"Josef Macera","orcid":null},"institutions":[{"id":"https://openalex.org/I37693276","display_name":"York College of Pennsylvania","ror":"https://ror.org/02ssn3c97","country_code":"US","type":"education","lineage":["https://openalex.org/I37693276"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Josef Macera","raw_affiliation_strings":["College of Engineering,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I37693276"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5119516889","display_name":"Naomi Oke","orcid":null},"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":"Naomi Oke","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081925724","display_name":"Aaron M. Johnson","orcid":"https://orcid.org/0000-0002-1629-8329"},"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":"Aaron M. Johnson","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051309977","display_name":"Sarah Bergbreiter","orcid":"https://orcid.org/0000-0003-2735-0206"},"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":"Sarah Bergbreiter","raw_affiliation_strings":["Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA,15213","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.7569,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.84734532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2905","last_page":"2911"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9922000169754028,"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":0.9922000169754028,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9812999963760376,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.6744115948677063},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.542477011680603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.542220413684845},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4508986175060272},{"id":"https://openalex.org/keywords/autonomous-robot","display_name":"Autonomous robot","score":0.4202403426170349},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34712982177734375},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10078337788581848}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6744115948677063},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.542477011680603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.542220413684845},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4508986175060272},{"id":"https://openalex.org/C2778835581","wikidata":"https://www.wikidata.org/wiki/Q2916098","display_name":"Autonomous robot","level":4,"score":0.4202403426170349},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34712982177734375},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10078337788581848},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128531","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128531","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7867234291","display_name":null,"funder_award_id":"CMMI-2408884","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":30,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W1545542339","https://openalex.org/W1968618465","https://openalex.org/W1974986187","https://openalex.org/W1979805297","https://openalex.org/W1981717102","https://openalex.org/W1993314711","https://openalex.org/W1996763811","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2054962097","https://openalex.org/W2062070353","https://openalex.org/W2065942939","https://openalex.org/W2075804535","https://openalex.org/W2096169664","https://openalex.org/W2107149337","https://openalex.org/W2119105564","https://openalex.org/W2136143868","https://openalex.org/W2149464084","https://openalex.org/W2163668399","https://openalex.org/W2546736465","https://openalex.org/W2605188590","https://openalex.org/W2783801856","https://openalex.org/W2795099003","https://openalex.org/W2972798201","https://openalex.org/W3091698519","https://openalex.org/W3143373178","https://openalex.org/W4285102144","https://openalex.org/W4383097434","https://openalex.org/W4390480916"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4285102526","https://openalex.org/W2771769625","https://openalex.org/W3108829104","https://openalex.org/W1594557686","https://openalex.org/W2090014568","https://openalex.org/W287737911","https://openalex.org/W2382415423","https://openalex.org/W2962810554"],"abstract_inverted_index":{"Miniaturizing":[0],"legged":[1],"robot":[2,61,91,110,126],"platforms":[3],"is":[4,78,101],"challenging":[5],"due":[6],"to":[7,130],"hardware":[8],"limitations":[9],"that":[10,21,115],"constrain":[11],"the":[12,50,56,90,107,120,125],"number,":[13],"power":[14],"density,":[15],"and":[16,36,44,52,77,83,122,127],"precision":[17],"of":[18,27,54,80,97,111,124],"actuators":[19],"at":[20,31,62,135],"size.":[22],"By":[23],"leveraging":[24],"design":[25,51,121],"principles":[26],"quasi-passive":[28],"walking":[29,60,95,133],"robots":[30,134],"any":[32,112],"scale,":[33],"stable":[34],"locomotion":[35],"steering":[37],"can":[38],"be":[39],"achieved":[40],"with":[41],"simple":[42],"mechanisms":[43],"open-loop":[45],"control.":[46],"Here,":[47],"we":[48],"present":[49],"control":[53],"\u201cZippy\u201d,":[55],"smallest":[57],"self-contained":[58],"bipedal":[59],"only":[63],"3.6":[64],"cm":[65],"tall.":[66],"Zippy":[67],"has":[68],"rounded":[69],"feet,":[70],"a":[71,93],"single":[72],"motor":[73],"without":[74],"feedback":[75],"control,":[76],"capable":[79],"turning,":[81],"skipping,":[82],"ascending":[84],"steps.":[85],"At":[86],"its":[87],"fastest":[88,108],"pace,":[89],"achieves":[92],"forward":[94],"speed":[96],"25":[98],"cm/s,":[99],"which":[100],"10":[102],"leg":[103],"lengths":[104],"per":[105],"second,":[106],"biped":[109],"size":[113],"by":[114],"metric.":[116],"This":[117],"work":[118],"explores":[119],"performance":[123],"compares":[128],"it":[129],"similar":[131],"dynamic":[132],"larger":[136],"scales.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
