{"id":"https://openalex.org/W2048348209","doi":"https://doi.org/10.1109/iros.2012.6385783","title":"Event-based walking control &amp;#x2014; From neurobiology to biped robots","display_name":"Event-based walking control &amp;#x2014; From neurobiology to biped robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2048348209","doi":"https://doi.org/10.1109/iros.2012.6385783","mag":"2048348209"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5067066595","display_name":"Thomas Buschmann","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Thomas Buschmann","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034910738","display_name":"Alexander Ewald","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Ewald","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090114501","display_name":"Heinz Ulbrich","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Heinz Ulbrich","raw_affiliation_strings":["Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Applied Mechanics, Technische Universit\u00e4t M\u00fcnchen, 85748, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050318328","display_name":"Ansgar B\u00fcschges","orcid":"https://orcid.org/0000-0003-2123-1900"},"institutions":[{"id":"https://openalex.org/I180923762","display_name":"University of Cologne","ror":"https://ror.org/00rcxh774","country_code":"DE","type":"education","lineage":["https://openalex.org/I180923762"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ansgar Buschges","raw_affiliation_strings":["Zoological Institute, University of Cologne, Cologne, Germany","Zoological Institute, University of Cologne, 50674, Germany"],"affiliations":[{"raw_affiliation_string":"Zoological Institute, University of Cologne, Cologne, Germany","institution_ids":["https://openalex.org/I180923762"]},{"raw_affiliation_string":"Zoological Institute, University of Cologne, 50674, Germany","institution_ids":["https://openalex.org/I180923762"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067066595"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":1.2102,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.78500662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"3","issue":null,"first_page":"1793","last_page":"1800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9861000180244446,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11685","display_name":"Zebrafish Biomedical Research Applications","score":0.9671000242233276,"subfield":{"id":"https://openalex.org/subfields/1307","display_name":"Cell Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6972092390060425},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6493186950683594},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6126021146774292},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5989072918891907},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5924885869026184},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5801555514335632},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5228201150894165},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.47522976994514465},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4405781030654907},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4361325204372406},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43030935525894165},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3837164044380188},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30304089188575745},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13177195191383362}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6972092390060425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6493186950683594},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6126021146774292},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5989072918891907},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5924885869026184},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5801555514335632},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5228201150894165},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.47522976994514465},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4405781030654907},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4361325204372406},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43030935525894165},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3837164044380188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30304089188575745},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13177195191383362},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6385783","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385783","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6499999761581421,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1563151479","https://openalex.org/W1878589647","https://openalex.org/W1968818868","https://openalex.org/W1988274707","https://openalex.org/W1993314711","https://openalex.org/W1996511732","https://openalex.org/W2016910258","https://openalex.org/W2017516920","https://openalex.org/W2033714640","https://openalex.org/W2034579881","https://openalex.org/W2037050168","https://openalex.org/W2045012281","https://openalex.org/W2057952125","https://openalex.org/W2071481478","https://openalex.org/W2086155025","https://openalex.org/W2086265687","https://openalex.org/W2086587468","https://openalex.org/W2092114155","https://openalex.org/W2095192936","https://openalex.org/W2095936366","https://openalex.org/W2116593178","https://openalex.org/W2123719714","https://openalex.org/W2126729486","https://openalex.org/W2130117525","https://openalex.org/W2134213238","https://openalex.org/W2139079436","https://openalex.org/W2140285140","https://openalex.org/W2140497618","https://openalex.org/W2144834630","https://openalex.org/W2151182239","https://openalex.org/W2155180319","https://openalex.org/W2159541442","https://openalex.org/W2160555349","https://openalex.org/W2160740151","https://openalex.org/W2161765976","https://openalex.org/W2170116736","https://openalex.org/W2474121502","https://openalex.org/W2478562489","https://openalex.org/W2539977475","https://openalex.org/W2745553815","https://openalex.org/W2747670665","https://openalex.org/W6633972438","https://openalex.org/W6665194980"],"related_works":["https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2996778109","https://openalex.org/W2371538778","https://openalex.org/W1912566312","https://openalex.org/W2151114014","https://openalex.org/W2048319068","https://openalex.org/W2114372896","https://openalex.org/W2368185326","https://openalex.org/W2386420955"],"abstract_inverted_index":{"In":[0],"this":[1,30],"paper":[2],"we":[3],"describe":[4],"an":[5,32,75],"event-based":[6,76],"walking":[7,23,38,86,120],"control":[8,15],"system":[9],"for":[10],"biped":[11,17],"robots.":[12],"Classically,":[13],"the":[14,46,69,84,99,114,117],"of":[16,89,116],"robots":[18],"has":[19],"been":[20],"separated":[21],"into":[22],"pattern":[24],"generation":[25,54],"and":[26,57,110],"stabilizing":[27],"control.":[28],"While":[29],"is":[31,59],"effective":[33],"strategy":[34],"in":[35,39,55,68],"well-known":[36],"environments,":[37],"rough,":[40],"unmodelled":[41],"terrain":[42],"can":[43],"easily":[44],"destabilize":[45],"system.":[47],"Findings":[48],"from":[49],"neurobiology":[50],"suggest":[51],"that":[52,78],"gait":[53,70],"animals":[56],"humans":[58],"strongly":[60],"linked":[61],"to":[62],"sensory":[63],"signals":[64],"indicating":[65],"certain":[66],"events":[67],"cycle.":[71],"We":[72,96,107],"therefore":[73],"propose":[74],"controller":[77],"triggers":[79],"phase":[80],"transitions":[81],"based":[82],"on":[83,92,102],"sensed":[85],"state":[87],"instead":[88],"only":[90],"relying":[91],"time-based":[93],"reference":[94],"trajectories.":[95],"have":[97],"implemented":[98],"proposed":[100],"approach":[101,118],"our":[103],"humanoid":[104],"robot":[105],"Lola.":[106],"present":[108],"simulations":[109],"experimental":[111],"results":[112],"demonstrating":[113],"effectiveness":[115],"when":[119],"over":[121],"unknown":[122],"obstacles.":[123]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
