{"id":"https://openalex.org/W2910761126","doi":"https://doi.org/10.1109/iros.2018.8593403","title":"Neural-Network-Controlled Spring Mass Template for Humanoid Running","display_name":"Neural-Network-Controlled Spring Mass Template for Humanoid Running","publication_year":2018,"publication_date":"2018-10-01","ids":{"openalex":"https://openalex.org/W2910761126","doi":"https://doi.org/10.1109/iros.2018.8593403","mag":"2910761126"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2018.8593403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5072891996","display_name":"Songyan Xin","orcid":"https://orcid.org/0000-0003-4326-0323"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Songyan Xin","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011251078","display_name":"Brian Delhaisse","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Brian Delhaisse","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070650640","display_name":"Yangwei You","orcid":"https://orcid.org/0000-0002-9511-550X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yangwei You","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026845307","display_name":"Chengxu Zhou","orcid":"https://orcid.org/0000-0002-6677-0855"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chengxu Zhou","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064041436","display_name":"Mohammad Shahbazi","orcid":"https://orcid.org/0000-0001-9479-6756"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mohammad Shahbazi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5072891996"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.557,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.66203153,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"3","issue":null,"first_page":"1725","last_page":"1731"},"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":0.9907000064849854,"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":0.9623000025749207,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7928712368011475},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7393764853477478},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6781477332115173},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.626970112323761},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5781607031822205},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4486362338066101},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.44435518980026245},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4319342374801636},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4268642067909241},{"id":"https://openalex.org/keywords/online-model","display_name":"Online model","score":0.4255063831806183},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41600751876831055},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.41536518931388855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36245137453079224},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1873486340045929},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1476248800754547},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.12834981083869934},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10081315040588379},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09885841608047485}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7928712368011475},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7393764853477478},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6781477332115173},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.626970112323761},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5781607031822205},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4486362338066101},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.44435518980026245},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4319342374801636},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4268642067909241},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.4255063831806183},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41600751876831055},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.41536518931388855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36245137453079224},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1873486340045929},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1476248800754547},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.12834981083869934},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10081315040588379},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09885841608047485},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2018.8593403","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2018.8593403","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.whiterose.ac.uk:144458","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4306400854","display_name":"White Rose Research Online (University of Leeds, The University of Sheffield, University of York)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2800616092","host_organization_name":"White Rose University Consortium","host_organization_lineage":["https://openalex.org/I2800616092"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"","raw_type":"Proceedings Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W1564897360","https://openalex.org/W1804862755","https://openalex.org/W1822001265","https://openalex.org/W1981918565","https://openalex.org/W1988828629","https://openalex.org/W2003013030","https://openalex.org/W2009317155","https://openalex.org/W2010026582","https://openalex.org/W2018860673","https://openalex.org/W2019808503","https://openalex.org/W2041550061","https://openalex.org/W2054577881","https://openalex.org/W2061063863","https://openalex.org/W2066472489","https://openalex.org/W2080421646","https://openalex.org/W2081683070","https://openalex.org/W2088381757","https://openalex.org/W2105676390","https://openalex.org/W2108977369","https://openalex.org/W2129224530","https://openalex.org/W2143729862","https://openalex.org/W2161427949","https://openalex.org/W2207933165","https://openalex.org/W2541749998","https://openalex.org/W2730083658","https://openalex.org/W6678926541","https://openalex.org/W6687979153","https://openalex.org/W6740507764","https://openalex.org/W6823173665"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2129850190","https://openalex.org/W2350715914","https://openalex.org/W1859914877","https://openalex.org/W3089472031","https://openalex.org/W4297273491","https://openalex.org/W2489566308"],"abstract_inverted_index":{"To":[0],"generate":[1,107],"dynamic":[2],"motions":[3],"such":[4],"as":[5],"hopping":[6],"and":[7,149],"running":[8,72,151],"on":[9,49,92,132],"legged":[10],"robots,":[11],"model-based":[12],"approaches":[13],"are":[14,117,136],"usually":[15],"used":[16],"to":[17,45,96,106,120,138],"embed":[18],"the":[19,28,56,64,68,71,93,112,121,133,140,143],"well":[20],"studied":[21],"spring-loaded":[22],"inverted":[23],"pendulum":[24],"(SLIP)":[25],"model":[26,95,123],"into":[27],"whole-body":[29,122],"robot.":[30,114],"In":[31],"producing":[32],"controlled":[33],"SLIP-like":[34],"behaviors,":[35],"existing":[36],"methods":[37],"either":[38],"suffer":[39],"from":[40],"online":[41,105],"incompatibility":[42],"or":[43],"resort":[44],"classical":[46],"interpolations":[47],"based":[48,91],"lookup":[50],"tables.":[51],"Alternatively,":[52],"this":[53],"paper":[54],"presents":[55],"application":[57],"of":[58,70,88,142],"a":[59,77,85,125],"data-driven":[60],"approach":[61,145],"which":[62],"obviates":[63],"need":[65],"for":[66,111],"solving":[67],"inverse":[69,127],"return":[73],"map":[74],"online.":[75],"Specifically,":[76],"deep":[78],"neural":[79],"network":[80,102],"is":[81,103],"trained":[82,101],"offline":[83],"with":[84],"large":[86],"amount":[87],"simulation":[89],"data":[90],"SLIP":[94],"learn":[97],"its":[98],"dynamics.":[99],"The":[100,115],"applied":[104],"reference":[108],"foot":[109],"placements":[110],"humanoid":[113],"references":[116],"then":[118],"mapped":[119],"through":[124],"QP-based":[126],"dynamics":[128],"controller.":[129],"Simulation":[130],"experiments":[131],"WALK-MAN":[134],"robot":[135],"conducted":[137],"evaluate":[139],"effectiveness":[141],"proposed":[144],"in":[146],"generating":[147],"bio-inspired":[148],"robust":[150],"motions.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":4}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}