{"id":"https://openalex.org/W2052719935","doi":"https://doi.org/10.1109/iros.2010.5651061","title":"Disturbance detection, identification, and recovery by gait transition in legged robots","display_name":"Disturbance detection, identification, and recovery by gait transition in legged robots","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2052719935","doi":"https://doi.org/10.1109/iros.2010.5651061","mag":"2052719935"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/557b8b7b-20c6-4f08-8869-25179c2ef386/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081925724","display_name":"Aaron M. Johnson","orcid":"https://orcid.org/0000-0002-1629-8329"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron M Johnson","raw_affiliation_strings":["Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109212751","display_name":"G. Clark Haynes","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G Clark Haynes","raw_affiliation_strings":["Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D E Koditschek","raw_affiliation_strings":["Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, 200 S. 33rd St, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.522,"has_fulltext":true,"cited_by_count":26,"citation_normalized_percentile":{"value":0.82407594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2","issue":null,"first_page":"5347","last_page":"5353"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9952999949455261,"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":0.9940000176429749,"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/robot","display_name":"Robot","score":0.6906373500823975},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.611920177936554},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5877545475959778},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5772731304168701},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5198162794113159},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.478594034910202},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.4671553671360016},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4465376138687134},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.44390881061553955},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.42026403546333313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4031670391559601},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.399644136428833},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.38720688223838806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3110719621181488},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17527103424072266},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.16274034976959229},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.12192311882972717}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6906373500823975},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.611920177936554},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5877545475959778},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5772731304168701},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5198162794113159},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.478594034910202},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.4671553671360016},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4465376138687134},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.44390881061553955},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.42026403546333313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4031670391559601},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.399644136428833},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.38720688223838806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3110719621181488},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17527103424072266},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.16274034976959229},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.12192311882972717},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2010.5651061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1611","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/570","pdf_url":"https://repository.upenn.edu/bitstreams/557b8b7b-20c6-4f08-8869-25179c2ef386/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/33790","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/33790","pdf_url":null,"source":{"id":"https://openalex.org/S4377196331","display_name":"Scholarly Commons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"published","raw_type":"Presentation"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1611","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/570","pdf_url":"https://repository.upenn.edu/bitstreams/557b8b7b-20c6-4f08-8869-25179c2ef386/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2052719935.pdf","grobid_xml":"https://content.openalex.org/works/W2052719935.grobid-xml"},"referenced_works_count":49,"referenced_works":["https://openalex.org/W15444146","https://openalex.org/W1482540049","https://openalex.org/W1496651197","https://openalex.org/W1518468345","https://openalex.org/W1548797027","https://openalex.org/W1561587621","https://openalex.org/W1565605886","https://openalex.org/W1568191923","https://openalex.org/W1570489613","https://openalex.org/W1669792271","https://openalex.org/W1822001265","https://openalex.org/W1864890144","https://openalex.org/W1958471081","https://openalex.org/W1969570716","https://openalex.org/W1971594916","https://openalex.org/W1975153089","https://openalex.org/W1982880998","https://openalex.org/W1992878443","https://openalex.org/W2001685400","https://openalex.org/W2025883847","https://openalex.org/W2034743065","https://openalex.org/W2065227239","https://openalex.org/W2079497341","https://openalex.org/W2095593876","https://openalex.org/W2099395647","https://openalex.org/W2113986333","https://openalex.org/W2114246891","https://openalex.org/W2115811893","https://openalex.org/W2120548794","https://openalex.org/W2133793830","https://openalex.org/W2153192722","https://openalex.org/W2171074980","https://openalex.org/W2171565529","https://openalex.org/W2172037318","https://openalex.org/W4235469158","https://openalex.org/W6600626510","https://openalex.org/W6629666079","https://openalex.org/W6632959618","https://openalex.org/W6633517897","https://openalex.org/W6633836146","https://openalex.org/W6634084671","https://openalex.org/W6634231871","https://openalex.org/W6636956154","https://openalex.org/W6639059209","https://openalex.org/W6674723763","https://openalex.org/W6677234175","https://openalex.org/W6678263380","https://openalex.org/W6682567211","https://openalex.org/W7014782513"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2389023277","https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W2347583731","https://openalex.org/W2124672917"],"abstract_inverted_index":{"We":[0,87,109],"present":[1],"a":[2,20,30,61,80],"framework":[3,115],"for":[4],"detecting,":[5],"identifying,":[6],"and":[7,13,106,132],"recovering":[8],"within":[9],"stride":[10],"from":[11,99],"faults":[12],"other":[14],"leg":[15,66],"contact":[16,64],"disturbances":[17,52],"encountered":[18],"by":[19,27,77,94],"walking":[21],"hexapedal":[22],"robot.":[23],"Detection":[24],"is":[25],"achieved":[26],"means":[28,78],"of":[29,79,91,113],"software":[31],"contact-event":[32],"sensor":[33],"with":[34,125],"no":[35],"additional":[36],"sensing":[37],"hardware":[38],"beyond":[39],"the":[40,89,121],"commercial":[41],"actuators'":[42],"standard":[43],"shaft":[44],"encoders.":[45],"A":[46],"simple":[47],"finite":[48],"state":[49],"machine":[50],"identifies":[51],"as":[53,75],"due":[54],"either":[55],"to":[56,123],"an":[57,69],"expected":[58],"ground":[59,63],"contact,":[60],"missing":[62],"indicating":[65],"fault,":[67],"or":[68],"unexpected":[70],"\u201cwall\u201d":[71],"contact.":[72],"Recovery":[73],"proceeds":[74],"necessary":[76],"recently":[81],"developed":[82],"topological":[83],"gait":[84],"transition":[85],"coordinator.":[86],"demonstrate":[88],"efficacy":[90],"this":[92,114],"system":[93],"presenting":[95],"preliminary":[96],"data":[97],"arising":[98],"two":[100],"reactive":[101,118],"behaviors":[102,119],"-":[103],"wall":[104],"avoidance":[105],"leg-break":[107],"recovery.":[108],"believe":[110],"that":[111],"extensions":[112],"will":[116],"enable":[117],"allowing":[120],"robot":[122],"function":[124],"guarded":[126],"autonomy":[127],"under":[128],"widely":[129],"varying":[130],"terrain":[131],"self-health":[133],"conditions.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}