{"id":"https://openalex.org/W2103243221","doi":"https://doi.org/10.1109/iros.2012.6385892","title":"Controllers for robust hopping with upright trunk based on the Virtual Pendulum concept","display_name":"Controllers for robust hopping with upright trunk based on the Virtual Pendulum concept","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2103243221","doi":"https://doi.org/10.1109/iros.2012.6385892","mag":"2103243221"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6385892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385892","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":"conference-paper","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/A5017524660","display_name":"Maziar A. Sharbafi","orcid":"https://orcid.org/0000-0001-5727-7527"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]},{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE","IR"],"is_corresponding":false,"raw_author_name":"Maziar Ahmad Sharbafi","raw_affiliation_strings":["College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035697171","display_name":"Christophe Maufroy","orcid":"https://orcid.org/0000-0002-7929-4560"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christophe Maufroy","raw_affiliation_strings":["Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070225641","display_name":"Horst-Moritz Maus","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Moritz Maus","raw_affiliation_strings":["Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Seyfarth","raw_affiliation_strings":["Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Locomotion Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072135442","display_name":"Majid Nili Ahmadabadi","orcid":"https://orcid.org/0000-0002-6370-6057"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Nili Ahmadabadi","raw_affiliation_strings":["College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086648677","display_name":"Mohammad Javad Yazdanpanah","orcid":"https://orcid.org/0000-0001-7098-8331"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Javad Yazdanpanah","raw_affiliation_strings":["College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Engineering, School of Electrical and Computer Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2222","last_page":"2227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9961000084877014,"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":0.9959999918937683,"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/control-theory","display_name":"Control theory (sociology)","score":0.7965661287307739},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7570503950119019},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.616706371307373},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5435705780982971},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.4634343087673187},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15053248405456543},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12579011917114258},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11407837271690369},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.089599609375}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7965661287307739},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7570503950119019},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.616706371307373},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5435705780982971},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.4634343087673187},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15053248405456543},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12579011917114258},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11407837271690369},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.089599609375},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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":2,"locations":[{"id":"doi:10.1109/iros.2012.6385892","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6385892","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.432.2582","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.432.2582","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.sim.informatik.tu-darmstadt.de/publ/download/2012_Sharbafi_IROS.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W152725453","https://openalex.org/W1515570182","https://openalex.org/W1822001265","https://openalex.org/W1868559974","https://openalex.org/W1973603933","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2019428247","https://openalex.org/W2065313971","https://openalex.org/W2070839171","https://openalex.org/W2075135730","https://openalex.org/W2092020325","https://openalex.org/W2098432798","https://openalex.org/W2113111527","https://openalex.org/W2121829700","https://openalex.org/W2129224530","https://openalex.org/W2129541023","https://openalex.org/W2161427949","https://openalex.org/W2170320699","https://openalex.org/W3195133498","https://openalex.org/W4233561989","https://openalex.org/W6606332072","https://openalex.org/W6630693504","https://openalex.org/W6655227703"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W1562157883"],"abstract_inverted_index":{"This":[0,63],"paper":[1],"presents":[2],"a":[3,54,68],"new":[4,69],"control":[5,121,137],"approach":[6],"to":[7,53,73,83,144,156],"achieve":[8],"robust":[9],"hopping":[10,76],"with":[11,67,107,154],"upright":[12],"trunk":[13,25,44,80],"in":[14,37],"the":[15,43,49,113,130,146],"sagittal":[16],"plane.":[17],"It":[18],"relies":[19],"on":[20,34],"an":[21,78],"innovative":[22],"concept":[23,64],"for":[24],"stabilization,":[26],"called":[27],"Virtual":[28,59],"Pendulum":[29],"concept,":[30,42],"recently":[31],"proposed,":[32],"based":[33,120],"experimental":[35],"finding":[36],"animal":[38],"locomotion.":[39],"With":[40,94],"this":[41],"is":[45,65,81,88,125],"stabilized":[46],"by":[47,90],"redirecting":[48],"ground":[50],"reaction":[51],"force":[52],"virtual":[55],"support":[56],"point,":[57],"named":[58],"Pivot":[60],"Point":[61],"(VPP).":[62],"combined":[66],"leg":[70],"adjustment":[71],"scheme":[72],"induce":[74],"stable":[75],"when":[77],"extended":[79],"added":[82],"SLIP":[84],"model.":[85],"The":[86],"stability":[87],"investigated":[89],"Poincar\u00e9":[91],"map":[92],"analysis.":[93],"fixed":[95],"VPP":[96,123],"position,":[97],"stability,":[98,157],"disturbance":[99],"rejection":[100],"and":[101,115,138,160],"moderate":[102],"robustness":[103,161],"are":[104,141,164],"achieved,":[105],"but":[106],"low":[108],"convergence":[109,158],"speed.":[110],"To":[111],"improve":[112],"performances":[114],"attain":[116],"higher":[117],"robustness,":[118],"event":[119],"of":[122,129],"position":[124],"introduced,":[126],"using":[127],"feedback":[128,147],"system":[131],"state":[132],"at":[133],"apex.":[134],"Dead":[135],"beat":[136],"Discrete":[139],"LQR":[140],"alternatively":[142],"considered":[143],"adjust":[145],"gains.":[148],"In":[149],"both":[150],"cases,":[151],"considerable":[152],"enhancements":[153],"respect":[155],"speed":[159],"against":[162],"perturbations":[163],"achieved.":[165]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}