{"id":"https://openalex.org/W2771994393","doi":"https://doi.org/10.1109/iros.2017.8206323","title":"A stability region criterion for flat-footed bipedal walking on deformable granular terrain","display_name":"A stability region criterion for flat-footed bipedal walking on deformable granular terrain","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2771994393","doi":"https://doi.org/10.1109/iros.2017.8206323","mag":"2771994393"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5088490455","display_name":"Xiaobin Xiong","orcid":"https://orcid.org/0000-0002-6275-3900"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaobin Xiong","raw_affiliation_strings":["School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering and Control and Dynamical Systems, California Insitute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering and Control and Dynamical Systems, California Insitute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078622216","display_name":"Daniel I. Goldman","orcid":"https://orcid.org/0000-0002-6954-9857"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel I. Goldman","raw_affiliation_strings":["School of Physics and School of Biology, Georgia Institute of Technology, Atlanta, GA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Physics and School of Biology, Georgia Institute of Technology, Atlanta, GA","institution_ids":["https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.542,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.9557147,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4552","last_page":"4559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9781000018119812,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7767162322998047},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7236829996109009},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7046337127685547},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6429744958877563},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5970855951309204},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5523192286491394},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5050087571144104},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.49919581413269043},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.44183528423309326},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.398353636264801},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3605403006076813},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2108364701271057},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20937037467956543},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.18430152535438538},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.18174630403518677}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7767162322998047},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7236829996109009},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7046337127685547},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6429744958877563},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5970855951309204},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5523192286491394},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5050087571144104},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.49919581413269043},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.44183528423309326},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.398353636264801},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3605403006076813},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2108364701271057},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20937037467956543},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.18430152535438538},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.18174630403518677},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206323","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206323","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:85662","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1974461875","https://openalex.org/W1975491757","https://openalex.org/W1993545591","https://openalex.org/W2021068971","https://openalex.org/W2060333238","https://openalex.org/W2123871098","https://openalex.org/W2128131727","https://openalex.org/W2133859362","https://openalex.org/W2143717973","https://openalex.org/W2157055752","https://openalex.org/W2197422560","https://openalex.org/W2413990562","https://openalex.org/W2511033521","https://openalex.org/W2562249655","https://openalex.org/W2801910602","https://openalex.org/W4399469378","https://openalex.org/W6687915076","https://openalex.org/W6725697423"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W4253098096","https://openalex.org/W2042776672","https://openalex.org/W2129754669","https://openalex.org/W2600116237","https://openalex.org/W4313056043","https://openalex.org/W4390099772"],"abstract_inverted_index":{"Achieving":[0],"stable":[1,188],"bipedal":[2,44,179],"robotic":[3],"walking":[4,145,163,174,190],"on":[5,53,96,176,191],"deformable":[6,55],"terrain":[7,27,57],"is":[8],"an":[9],"open":[10],"and":[11,19,33,46,60,80,151,172],"challenging":[12],"problem":[13],"at":[14],"the":[15,87,107,132,136,141,153,170,183],"intersection":[16],"of":[17,89,93,140],"robotics":[18],"physics.":[20],"Ground":[21],"deformation":[22],"introduces":[23],"underactuation;":[24],"uncertainty":[25],"in":[26,70],"dynamics":[28,157],"further":[29],"complicates":[30],"dynamical":[31,149],"modeling":[32],"control":[34,49],"methods.":[35],"This":[36],"work":[37],"provides":[38],"a":[39,82,94,97,147,177],"stability":[40,84,104,133,184],"criterion":[41,186],"for":[42,86,114],"flat-footed":[43],"locomotion":[45],"allows":[47],"model-based":[48],"methods":[50,123],"to":[51,161],"function":[52],"homogeneous":[54,192],"granular":[56,68,73,98,193],"(e.g.":[58],"sand":[59],"dirt).":[61],"By":[62,130],"characterizing":[63],"static":[64,83],"reaction":[65,138],"forces":[66],"from":[67],"materials,":[69],"conjunction":[71],"with":[72,125],"resistive":[74],"force":[75],"theory":[76],"(RFT),":[77],"we":[78,143,166],"model":[79],"validate":[81,168],"region":[85,105,113,134,185],"center":[88],"mass":[90],"(CoM)":[91],"projection":[92],"biped":[95],"surface.":[99],"We":[100],"show":[101],"that":[102,182],"this":[103],"approximates":[106],"admissible":[108],"Zero":[109],"Moment":[110],"Point":[111],"(ZMP)":[112],"walking,":[115],"rendering":[116],"common":[117],"Linear":[118],"Inverted":[119],"Pendulum":[120],"Model":[121],"(LIPM)":[122],"valid":[124],"our":[126],"foot":[127],"placement":[128],"strategy.":[129],"interpreting":[131],"as":[135,146],"maximum":[137],"moment":[139],"terrain,":[142],"formulate":[144],"hybrid":[148,155],"system":[150],"utilize":[152],"partial":[154],"zero":[156],"(PHZD)":[158],"based":[159],"methodology":[160],"generate":[162],"gaits.":[164],"Finally,":[165],"experimentally":[167],"both":[169],"ZMP":[171],"PHZD":[173],"gaits":[175],"planar":[178],"robot,":[180],"showing":[181],"permits":[187],"dynamic":[189],"terrain.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
