{"id":"https://openalex.org/W2774009378","doi":"https://doi.org/10.1109/iros.2017.8206366","title":"Foot placement and ankle push-off control for the orbital stabilization of bipedal robots","display_name":"Foot placement and ankle push-off control for the orbital stabilization of bipedal robots","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774009378","doi":"https://doi.org/10.1109/iros.2017.8206366","mag":"2774009378"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206366","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":"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/A5003234685","display_name":"Ali Zamani","orcid":"https://orcid.org/0000-0001-8497-6577"},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ali Zamani","raw_affiliation_strings":["Dept. of Mechanical Engineering, University of Texas San Antonio, San Antonio, TX, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, University of Texas San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059004977","display_name":"Pranav A. Bhounsule","orcid":"https://orcid.org/0000-0002-7504-6009"},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Pranav A. Bhounsule","raw_affiliation_strings":["Dept. of Mechanical Engineering, University of Texas San Antonio, San Antonio, TX, USA"],"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, University of Texas San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5003234685"],"corresponding_institution_ids":["https://openalex.org/I45438204"],"apc_list":null,"apc_paid":null,"fwci":1.1471,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.77329999,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4883","last_page":"4888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9919000267982483,"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":0.9904999732971191,"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/control-theory","display_name":"Control theory (sociology)","score":0.8066737651824951},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6008344292640686},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.552208423614502},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5357125997543335},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49521031975746155},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.46031472086906433},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.4598120152950287},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.4379894733428955},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4346464276313782},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17638102173805237},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1725292205810547},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09565988183021545},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08681997656822205}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8066737651824951},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6008344292640686},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.552208423614502},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5357125997543335},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49521031975746155},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.46031472086906433},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.4598120152950287},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.4379894733428955},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4346464276313782},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17638102173805237},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1725292205810547},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09565988183021545},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08681997656822205},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206366","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206366","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W129037336","https://openalex.org/W1487434675","https://openalex.org/W1981717102","https://openalex.org/W1986283108","https://openalex.org/W1990047283","https://openalex.org/W2066687667","https://openalex.org/W2074686910","https://openalex.org/W2107149337","https://openalex.org/W2113647903","https://openalex.org/W2161427949","https://openalex.org/W2170839407","https://openalex.org/W2315695414","https://openalex.org/W2539534359","https://openalex.org/W2576188102","https://openalex.org/W2741700870","https://openalex.org/W2798813531"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W2168383058","https://openalex.org/W2164703465","https://openalex.org/W2143247663","https://openalex.org/W1864017312","https://openalex.org/W2050693590"],"abstract_inverted_index":{"The":[0],"main":[1],"motivation":[2],"of":[3,11,55,88],"this":[4],"paper":[5],"is":[6,119,131,143,154],"to":[7,132,144,157],"understand":[8],"the":[9,24,86,150],"role":[10],"foot":[12,134,146,159],"placement":[13,135,147,160],"and":[14,39,61,108,139,165],"ankle":[15],"push-off":[16,138,166],"control":[17,67,77,161,167],"in":[18,57],"stabilizing":[19],"bipedal":[20],"gaits.":[21],"We":[22,44],"modify":[23],"simplest":[25],"walker":[26],"(heavy":[27],"torso,":[28],"light":[29],"legs)":[30],"by":[31,85],"incorporating":[32],"a":[33,36,40,58],"hip":[34,37],"spring,":[35],"actuator,":[38],"telescopic":[41],"linear":[42],"actuator.":[43],"consider":[45],"two":[46],"stability":[47],"criteria:":[48],"one-step":[49],"dead-beat":[50,117],"stabilization":[51,64,118],"for":[52,102,111,128,140,162,168],"full":[53],"correction":[54],"disturbance":[56],"single":[59],"step":[60,106,112,116,129,141,163,169],"exponential":[62,123],"orbital":[63],"using":[65],"discrete":[66],"Lyapunov":[68],"function.":[69],"Our":[70],"findings":[71],"are":[72,99],"as":[73,83],"follows:":[74],"(1)":[75],"Both":[76],"strategies":[78,98],"have":[79],"almost":[80],"similar":[81],"robustness":[82],"measured":[84],"number":[87],"steps":[89],"walked":[90],"on":[91],"stochastic":[92],"terrain":[93,104],"before":[94],"failure,":[95],"but":[96],"both":[97],"more":[100,120],"robust":[101,110],"changing":[103],"with":[105],"down":[107,142],"less":[109],"up.":[113],"(2)":[114],"One":[115],"energy-efficient":[121,156],"than":[122],"stabilization.":[124],"(3)":[125],"Control":[126],"strategy":[127],"up":[130,164],"decrease":[133,149],"or":[136,148],"maintain":[137],"increase":[145],"push-off.":[151],"However,":[152],"it":[153],"most":[155],"use":[158],"down.":[170]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
