{"id":"https://openalex.org/W4401415280","doi":"https://doi.org/10.1109/icra57147.2024.10611056","title":"Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts","display_name":"Efficient, Dynamic Locomotion through Step Placement with Straight Legs and Rolling Contacts","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401415280","doi":"https://doi.org/10.1109/icra57147.2024.10611056"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10611056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 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/A5109625473","display_name":"Stefan Fasano","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Stefan Fasano","raw_affiliation_strings":["the Institute for Human and Machine Cognition"],"affiliations":[{"raw_affiliation_string":"the Institute for Human and Machine Cognition","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109150561","display_name":"James E. Foster","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James Foster","raw_affiliation_strings":["the Institute for Human and Machine Cognition"],"affiliations":[{"raw_affiliation_string":"the Institute for Human and Machine Cognition","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110745109","display_name":"Sylvain Bertrand","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sylvain Bertrand","raw_affiliation_strings":["the Institute for Human and Machine Cognition"],"affiliations":[{"raw_affiliation_string":"the Institute for Human and Machine Cognition","institution_ids":["https://openalex.org/I1335578998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058239553","display_name":"Christian DeBuys","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christian DeBuys","raw_affiliation_strings":["Boardwalk Robotics, Inc"],"affiliations":[{"raw_affiliation_string":"Boardwalk Robotics, Inc","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101810887","display_name":"Robert J. Griffin","orcid":null},"institutions":[{"id":"https://openalex.org/I1335578998","display_name":"Florida Institute for Human and Machine Cognition","ror":"https://ror.org/02napvw46","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I1335578998"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert Griffin","raw_affiliation_strings":["the Institute for Human and Machine Cognition"],"affiliations":[{"raw_affiliation_string":"the Institute for Human and Machine Cognition","institution_ids":["https://openalex.org/I1335578998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5109625473"],"corresponding_institution_ids":["https://openalex.org/I1335578998"],"apc_list":null,"apc_paid":null,"fwci":0.5556,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62308184,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1143","last_page":"1150"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5642070174217224}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5642070174217224}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10611056","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10611056","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1945123189","https://openalex.org/W2006564886","https://openalex.org/W2016102421","https://openalex.org/W2018343737","https://openalex.org/W2047174209","https://openalex.org/W2080826208","https://openalex.org/W2085942851","https://openalex.org/W2101340954","https://openalex.org/W2119778835","https://openalex.org/W2128131727","https://openalex.org/W2128532136","https://openalex.org/W2131052630","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2140476636","https://openalex.org/W2146469560","https://openalex.org/W2161427949","https://openalex.org/W2162109810","https://openalex.org/W2163668399","https://openalex.org/W2208576078","https://openalex.org/W2335044248","https://openalex.org/W2409421274","https://openalex.org/W2539534359","https://openalex.org/W2753982946","https://openalex.org/W2754355613","https://openalex.org/W3012062338","https://openalex.org/W3081791272","https://openalex.org/W3091756548","https://openalex.org/W3102819858","https://openalex.org/W3106415863","https://openalex.org/W3127527157","https://openalex.org/W3130598229","https://openalex.org/W3193798503","https://openalex.org/W3206084708","https://openalex.org/W3206982864","https://openalex.org/W4200027865","https://openalex.org/W4286423847","https://openalex.org/W4292852785","https://openalex.org/W4312405101","https://openalex.org/W4313563026","https://openalex.org/W4323263309","https://openalex.org/W4389665776","https://openalex.org/W4390481128"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"For":[0],"humans,":[1],"fast,":[2,123],"efficient":[3,45],"walking":[4,46,126,155,160],"over":[5,47,157],"flat":[6],"ground":[7,49],"represents":[8],"the":[9,29,34,92,98,148,167,174,178,187],"vast":[10],"majority":[11],"of":[12,61,81,91,100,117,166,169,180],"locomotion":[13,42],"that":[14,56],"an":[15,24,67,77,144],"individual":[16],"experiences":[17],"on":[18,103,111],"a":[19,41,51,58],"daily":[20],"basis,":[21],"and":[22,85,110,138,152,183],"for":[23,44,88],"effective,":[25],"real-world":[26],"humanoid":[27],"robot":[28,105],"same":[30],"will":[31],"likely":[32],"be":[33],"case.":[35],"In":[36],"this":[37,101,118],"work,":[38],"we":[39,163],"propose":[40],"controller":[43,55,102,156],"near-flat":[48],"using":[50],"relatively":[52],"simple,":[53],"model-based":[54],"utilizes":[57],"novel":[59],"combination":[60],"several":[62],"interesting":[63],"design":[64],"features":[65],"including":[66],"ALIP-based":[68],"step":[69],"adjustment":[70],"strategy,":[71],"stance":[72,93,175],"leg":[73],"length":[74],"control":[75,150],"as":[76],"alternative":[78],"to":[79,121],"center":[80],"mass":[82],"height":[83],"control,":[84],"rolling":[86,171],"contact":[87,172],"heel-to-toe":[89],"motion":[90],"foot.":[94],"We":[95,141],"then":[96],"present":[97,143],"results":[99,114],"our":[104,153],"Nadia,":[106],"both":[107],"in":[108,136,173],"simulation":[109],"hardware.":[112],"These":[113],"include":[115],"validation":[116],"controller\u2019s":[119],"ability":[120],"perform":[122],"reliable":[124],"forward":[125],"at":[127],"0.75":[128],"m/s":[129],"along":[130],"with":[131],"backwards":[132],"walking,":[133],"side-stepping,":[134],"turning":[135],"place,":[137],"push":[139],"recovery.":[140],"also":[142],"efficiency":[145],"comparison":[146],"between":[147],"proposed":[149],"strategy":[151],"baseline":[154],"three":[158],"steady-state":[159],"speeds.":[161],"Lastly,":[162],"demonstrate":[164],"some":[165],"benefits":[168],"utilizing":[170],"foot,":[176],"specifically":[177],"reduction":[179],"necessary":[181],"positive":[182],"negative":[184],"work":[185],"throughout":[186],"stride.":[188]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}
