{"id":"https://openalex.org/W2085782509","doi":"https://doi.org/10.1109/iros.2014.6943260","title":"On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations","display_name":"On the dynamics of a quadruped robot model with impedance control: Self-stabilizing high speed trot-running and period-doubling bifurcations","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2085782509","doi":"https://doi.org/10.1109/iros.2014.6943260","mag":"2085782509"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6943260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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://hdl.handle.net/1721.1/98282","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036645679","display_name":"Dong Jin Hyun","orcid":"https://orcid.org/0000-0002-4599-8367"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong Jin Hyun","raw_affiliation_strings":["the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002868202","display_name":"Jooeun Ahn","orcid":"https://orcid.org/0000-0002-7964-5148"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jooeun Ahn","raw_affiliation_strings":["the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Biomimetic Robotics Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Biomimetic Robotics Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112008455","display_name":"Neville Hogan","orcid":"https://orcid.org/0000-0001-5366-2145"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neville Hogan","raw_affiliation_strings":["the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Eric P. and Evelyn E. Newman Laboratory for Biomechanics and Human Rehabilitation Laboratory, the Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4907","last_page":"4913"},"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":0.9908000230789185,"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":0.9805999994277954,"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/control-theory","display_name":"Control theory (sociology)","score":0.759721040725708},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6015005111694336},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5971161127090454},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5930123329162598},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.549842894077301},{"id":"https://openalex.org/keywords/chaotic","display_name":"Chaotic","score":0.5443995594978333},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5259119272232056},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.498152494430542},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4321972727775574},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4274083971977234},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3746899366378784},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21735522150993347},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17770743370056152},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13164359331130981}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.759721040725708},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6015005111694336},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5971161127090454},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5930123329162598},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.549842894077301},{"id":"https://openalex.org/C2777052490","wikidata":"https://www.wikidata.org/wiki/Q5072826","display_name":"Chaotic","level":2,"score":0.5443995594978333},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5259119272232056},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.498152494430542},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4321972727775574},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4274083971977234},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3746899366378784},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21735522150993347},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17770743370056152},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13164359331130981},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/iros.2014.6943260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6943260","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.854.7039","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.854.7039","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://dspace.mit.edu/bitstream/handle/1721.1/98282/IROS2014_JWLee_Final.pdf%3Bjsessionid%3D12BF9B33AC0C9103B78302597089E6DB?sequence%3D1","raw_type":"text"},{"id":"pmh:oai:dspace.mit.edu:1721.1/98282","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/98282","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Hogan via Angie Locknar","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/116814","is_oa":false,"landing_page_url":"http://hdl.handle.net/10371/116814","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/98282","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/98282","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Hogan via Angie Locknar","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W253703761","https://openalex.org/W960843525","https://openalex.org/W1542420084","https://openalex.org/W1569732988","https://openalex.org/W1967377907","https://openalex.org/W1968196344","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1978023077","https://openalex.org/W1978102433","https://openalex.org/W1980780059","https://openalex.org/W1988274707","https://openalex.org/W2005645811","https://openalex.org/W2008342119","https://openalex.org/W2010026582","https://openalex.org/W2018672845","https://openalex.org/W2060874116","https://openalex.org/W2074686910","https://openalex.org/W2085746528","https://openalex.org/W2094496385","https://openalex.org/W2111364616","https://openalex.org/W2135557503","https://openalex.org/W2139038136","https://openalex.org/W2141541198","https://openalex.org/W2145932718","https://openalex.org/W2152691590","https://openalex.org/W2156018100","https://openalex.org/W2156355884","https://openalex.org/W2164932599","https://openalex.org/W2295267092","https://openalex.org/W2489691424","https://openalex.org/W2519283916","https://openalex.org/W4285719527","https://openalex.org/W6644135095","https://openalex.org/W6644753002","https://openalex.org/W6726914825"],"related_works":["https://openalex.org/W2053950117","https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W4248382324","https://openalex.org/W3131574667","https://openalex.org/W3029575091","https://openalex.org/W4386008762","https://openalex.org/W2536657158","https://openalex.org/W2085797056","https://openalex.org/W2565094479"],"abstract_inverted_index":{"The":[0],"MIT":[1],"Cheetah":[2],"demonstrated":[3,91],"a":[4,23,30,83,96,135],"stable":[5,113],"6":[6],"m/s":[7],"trot":[8,45,80],"gait":[9],"in":[10,92],"the":[11,15,27,35,41,63,69,72,104,108,119,157],"sagittal":[12],"plane":[13],"utilizing":[14],"self-stable":[16],"characteristics":[17],"of":[18,26,29,43,55,71,79,86,107,125,131,138,142],"locomotion.":[19],"This":[20,99],"paper":[21,94],"presents":[22],"numerical":[24],"analysis":[25,145],"behavior":[28],"quadruped":[31],"robot":[32],"model":[33,73],"with":[34],"proposed":[36],"controller.":[37],"We":[38],"first":[39],"demonstrate":[40,68],"existence":[42],"periodic":[44],"gaits":[46,81],"at":[47,82],"various":[48],"speeds":[49],"and":[50,95],"examine":[51],"local":[52,64],"orbital":[53],"stability":[54,70],"each":[56],"trajectory":[57],"using":[58],"Poincar`e":[59],"map":[60],"analysis.":[61],"Beyond":[62],"stability,":[65],"we":[66,117,122],"additionally":[67],"against":[74],"large":[75],"initial":[76],"perturbations.":[77],"Stability":[78],"wide":[84],"range":[85],"speed":[87,110],"enables":[88],"gradual":[89],"acceleration":[90],"this":[93,143],"real":[97],"machine.":[98],"simulation":[100,144],"study":[101],"also":[102],"suggests":[103,129],"upper":[105],"limit":[106],"command":[109,120,139],"that":[111],"ensures":[112],"steady-state":[114],"running.":[115],"As":[116],"increase":[118],"speed,":[121],"observe":[123],"series":[124],"period-doubling":[126],"bifurcations,":[127],"which":[128],"presence":[130],"chaotic":[132],"dynamics":[133],"beyond":[134],"certain":[136],"level":[137],"speed.":[140],"Extension":[141],"will":[146],"provide":[147],"useful":[148],"guidelines":[149],"for":[150],"searching":[151],"control":[152],"parameters":[153],"to":[154],"further":[155],"improve":[156],"system":[158],"performance.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}