{"id":"https://openalex.org/W2206891562","doi":"https://doi.org/10.1109/iros.2015.7353579","title":"The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control","display_name":"The basin of attraction for running robots: Fractals, multistep trajectories, and the choice of control","publication_year":2015,"publication_date":"2015-09-01","ids":{"openalex":"https://openalex.org/W2206891562","doi":"https://doi.org/10.1109/iros.2015.7353579","mag":"2206891562"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2015.7353579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5057211130","display_name":"Tom Cnops","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tom Cnops","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083017120","display_name":"Zhenyu Gan","orcid":"https://orcid.org/0000-0002-5972-9600"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhenyu Gan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. David Remy","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.9096,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.75185176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"6","issue":null,"first_page":"1586","last_page":"1591"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T12250","display_name":"Experimental and Theoretical Physics Studies","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9864000082015991,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7231696844100952},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6849707365036011},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6742459535598755},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.580326497554779},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5723703503608704},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5424448251724243},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5268325209617615},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4326454997062683},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.327373206615448},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2941437363624573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22165131568908691},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17341122031211853},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14596295356750488}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7231696844100952},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6849707365036011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6742459535598755},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.580326497554779},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5723703503608704},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5424448251724243},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5268325209617615},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4326454997062683},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.327373206615448},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2941437363624573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22165131568908691},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17341122031211853},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14596295356750488},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2015.7353579","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2015.7353579","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W37667216","https://openalex.org/W1968196344","https://openalex.org/W1981694235","https://openalex.org/W1981918565","https://openalex.org/W1989796457","https://openalex.org/W1995409582","https://openalex.org/W2010026582","https://openalex.org/W2091027246","https://openalex.org/W2099586405","https://openalex.org/W2129287493","https://openalex.org/W2135608731","https://openalex.org/W2148668910","https://openalex.org/W2170320699","https://openalex.org/W2489174104","https://openalex.org/W4214502839","https://openalex.org/W6601529325","https://openalex.org/W6645499803"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W804621235","https://openalex.org/W2733937007","https://openalex.org/W1561809125","https://openalex.org/W2170933721","https://openalex.org/W2099808884","https://openalex.org/W809819843","https://openalex.org/W2137951129","https://openalex.org/W3108637452","https://openalex.org/W2082719470"],"abstract_inverted_index":{"If":[0],"the":[1,33,46,63,82,86,93,106,121,135,147,152,155,160,169,183,190,195,198,208],"control":[2,22,52,123],"authority":[3],"of":[4,48,84,88,103,146,151,162,197,210,212,214],"a":[5,12,16,27,49,100,113,116,126,141],"running":[6,117,216],"system":[7],"is":[8,23,30,81,187],"insufficient":[9],"to":[10,37,139,171,189],"reach":[11],"target":[13,94],"state":[14,95],"in":[15,78,99,154],"single":[17],"step,":[18],"i.e.":[19],"if":[20],"deadbeat":[21,56],"not":[24],"possible,":[25],"then":[26],"stabilizing":[28],"controller":[29],"faced":[31],"with":[32,62],"decision":[34,72],"on":[35],"how":[36,182],"plan":[38],"intermediate":[39],"steps.":[40,104],"In":[41],"this":[42,79,131],"work,":[43],"we":[44,119,133],"compare":[45,120],"performance":[47,65,75],"simple":[50],"greedy":[51],"policy":[53],"(that":[54],"computes":[55],"inputs":[57],"and":[58,125,150],"simply":[59],"caps":[60],"them)":[61],"optimal":[64],"found":[66],"by":[67],"an":[68],"exhaustive":[69],"search":[70],"through":[71],"space.":[73],"The":[74,179],"criterion":[76],"used":[77],"study":[80],"basin":[83],"attraction:":[85],"set":[87],"all":[89],"states":[90],"from":[91,175],"where":[92],"will":[96],"be":[97],"reached":[98],"finite":[101],"number":[102,161],"Using":[105],"planar":[107],"spring-loaded":[108],"inverted":[109],"pendulum":[110],"(SLIP)":[111],"as":[112],"model":[114,138,170],"for":[115,168],"robot,":[118],"two":[122],"schemes":[124],"fully":[127],"passive":[128,136,184],"behavior.":[129],"To":[130],"end,":[132],"extended":[134],"slip":[137],"include":[140],"controllable,":[142],"yet":[143],"limited":[144],"variation":[145],"touchdown":[148],"angle":[149],"damping":[153],"leg":[156],"spring.":[157],"We":[158],"quantified":[159],"steps":[163],"that":[164,186],"it":[165,202],"would":[166],"take":[167],"fall":[172],"or":[173],"converge":[174],"arbitrary":[176],"initial":[177],"states.":[178],"paper":[180],"highlights":[181],"stabilization,":[185],"inherent":[188],"SLIP":[191],"model,":[192],"greatly":[193],"influences":[194],"dynamics":[196],"controlled":[199],"system.":[200],"Furthermore,":[201],"reveals":[203],"some":[204],"new":[205],"insights":[206],"into":[207],"structure":[209],"basins":[211],"attractions":[213],"SLIP-like":[215],"models.":[217]},"counts_by_year":[{"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":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
