{"id":"https://openalex.org/W2111712314","doi":"https://doi.org/10.1109/iros.2013.6696839","title":"Modular control of limit cycle locomotion over unperceived rough terrain","display_name":"Modular control of limit cycle locomotion over unperceived rough terrain","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W2111712314","doi":"https://doi.org/10.1109/iros.2013.6696839","mag":"2111712314"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/187593","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018470723","display_name":"Mostafa Ajallooeian","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mostafa Ajallooeian","raw_affiliation_strings":["Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105780973","display_name":"Sebastien Gay","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Sebastien Gay","raw_affiliation_strings":["Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077705686","display_name":"Alexandre Tuleu","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexandre Tuleu","raw_affiliation_strings":["Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074721771","display_name":"Alexander Badri\u2013Spr\u00f6witz","orcid":"https://orcid.org/0000-0002-3864-7307"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Sprowitz","raw_affiliation_strings":["Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke J. Ijspeert","raw_affiliation_strings":["Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biorobotics laboratory, Ecole Polytechnique F\u00e9d\u00e9ral de Lausanne (EPFL), Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3390","last_page":"3397"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9908000230789185,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7006816267967224},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6855774521827698},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.6633974313735962},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.6435010433197021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48789119720458984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46603578329086304},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4284195303916931},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.31292417645454407},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1597946286201477},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.13509240746498108},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1013491153717041},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.0665154755115509}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7006816267967224},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6855774521827698},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.6633974313735962},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.6435010433197021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48789119720458984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46603578329086304},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4284195303916931},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31292417645454407},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1597946286201477},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.13509240746498108},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1013491153717041},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0665154755115509},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/iros.2013.6696839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.363.6055","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.363.6055","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/187593/files/ajallooeian_cpgvviros_2013_cameraready.pdf","raw_type":"text"},{"id":"pmh:oai:escidoc.org:escidoc:2316378","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002B-0957-2","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:infoscience.epfl.ch:187593","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/187593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:199261","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/199261","pdf_url":null,"source":{"id":"https://openalex.org/S4306400488","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/199261","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:187593","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/187593","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1498151138","https://openalex.org/W1553774826","https://openalex.org/W1582353822","https://openalex.org/W1975230295","https://openalex.org/W1977505238","https://openalex.org/W1983815930","https://openalex.org/W1988274707","https://openalex.org/W1989665388","https://openalex.org/W1996828753","https://openalex.org/W2026131180","https://openalex.org/W2026417790","https://openalex.org/W2037729465","https://openalex.org/W2043878167","https://openalex.org/W2054186704","https://openalex.org/W2063805130","https://openalex.org/W2078139367","https://openalex.org/W2083990312","https://openalex.org/W2086547436","https://openalex.org/W2086587468","https://openalex.org/W2089876099","https://openalex.org/W2094496385","https://openalex.org/W2096045964","https://openalex.org/W2110198466","https://openalex.org/W2116528556","https://openalex.org/W2119778835","https://openalex.org/W2134454943","https://openalex.org/W2141791321","https://openalex.org/W2148430392","https://openalex.org/W2150317946","https://openalex.org/W2155970105","https://openalex.org/W2156174987","https://openalex.org/W2157822824","https://openalex.org/W2159198323","https://openalex.org/W2539382986","https://openalex.org/W4229720873","https://openalex.org/W6629668719","https://openalex.org/W6644135095","https://openalex.org/W6995547499"],"related_works":["https://openalex.org/W4388297534","https://openalex.org/W2051439117","https://openalex.org/W1673883441","https://openalex.org/W4298109871","https://openalex.org/W2313188567","https://openalex.org/W4248124207","https://openalex.org/W2083477739","https://openalex.org/W2089966216","https://openalex.org/W2017930464","https://openalex.org/W2017252923"],"abstract_inverted_index":{"We":[0,76],"present":[1],"a":[2,21,63,69,81],"general":[3],"approach":[4],"to":[5],"design":[6],"modular":[7],"controllers":[8],"for":[9,44,54],"limit":[10],"cycle":[11],"locomotion":[12,79],"over":[13,88],"unperceived":[14,89],"rough":[15],"terrain.":[16],"The":[17,57],"control":[18,50,58],"strategy":[19,59],"uses":[20],"Central":[22],"Pattern":[23],"Generator":[24],"(CPG)":[25],"model":[26,67],"implemented":[27,41],"as":[28,32,42],"coupled":[29],"nonlinear":[30],"oscillators":[31],"basis.":[33],"Stumbling":[34],"correction":[35],"and":[36,47,93],"leg":[37],"extension":[38],"reflexes":[39],"are":[40],"feedbacks":[43,53],"fast":[45],"corrections,":[46],"model-based":[48],"posture":[49],"mechanisms":[51],"define":[52],"continuous":[55],"corrections.":[56],"is":[60],"validated":[61],"on":[62],"detailed":[64],"physics-based":[65],"simulated":[66],"of":[68,83],"compliant":[70],"quadruped":[71],"robot,":[72],"the":[73],"Oncilla":[74],"robot.":[75],"demonstrate":[77],"dynamic":[78],"with":[80],"speed":[82],"more":[84],"than":[85],"1.5":[86],"BodyLength/s":[87],"uneven":[90],"terrains,":[91],"steps,":[92],"slopes.":[94]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}