{"id":"https://openalex.org/W3003965754","doi":"https://doi.org/10.1109/iros40897.2019.8968162","title":"Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model","display_name":"Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003965754","doi":"https://doi.org/10.1109/iros40897.2019.8968162","mag":"3003965754"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/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":"Xiaobin Xiong","raw_affiliation_strings":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","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":["California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"California Institute of Technology,Department of Mechanical and Civil Engineering,Pasadena,CA,91125","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":10.2636,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.99111235,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4644","last_page":"4651"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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":0.9902999997138977,"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/underactuation","display_name":"Underactuation","score":0.8850525617599487},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8372485041618347},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6861351728439331},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.6462177634239197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5519706606864929},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5176959037780762},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.4691062569618225},{"id":"https://openalex.org/keywords/orbit","display_name":"Orbit (dynamics)","score":0.4318509101867676},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.20720142126083374},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20286142826080322},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17486774921417236},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1336195468902588},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12347331643104553},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.0959397554397583},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0783444344997406}],"concepts":[{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.8850525617599487},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8372485041618347},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6861351728439331},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.6462177634239197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5519706606864929},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5176959037780762},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.4691062569618225},{"id":"https://openalex.org/C196644772","wikidata":"https://www.wikidata.org/wiki/Q3884964","display_name":"Orbit (dynamics)","level":2,"score":0.4318509101867676},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.20720142126083374},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20286142826080322},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17486774921417236},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1336195468902588},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12347331643104553},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0959397554397583},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0783444344997406},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1500527895","https://openalex.org/W1993314711","https://openalex.org/W2003013030","https://openalex.org/W2009317155","https://openalex.org/W2016582414","https://openalex.org/W2047174209","https://openalex.org/W2101340954","https://openalex.org/W2105676390","https://openalex.org/W2121829700","https://openalex.org/W2123402064","https://openalex.org/W2133859362","https://openalex.org/W2161427949","https://openalex.org/W2162109810","https://openalex.org/W2169470463","https://openalex.org/W2171879251","https://openalex.org/W2239166089","https://openalex.org/W2413990562","https://openalex.org/W2465284394","https://openalex.org/W2563439850","https://openalex.org/W2570818861","https://openalex.org/W2593165836","https://openalex.org/W2806858658","https://openalex.org/W2876406920","https://openalex.org/W2883488766","https://openalex.org/W2912237277","https://openalex.org/W2972798201","https://openalex.org/W3003308218","https://openalex.org/W3011097823","https://openalex.org/W6754696344","https://openalex.org/W6768514490","https://openalex.org/W6775375944"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W2008084614","https://openalex.org/W2366496871","https://openalex.org/W2041698009","https://openalex.org/W2669735925","https://openalex.org/W3216306759","https://openalex.org/W2047755970","https://openalex.org/W2734833709","https://openalex.org/W2204278379","https://openalex.org/W2079978934"],"abstract_inverted_index":{"A":[0],"Hybrid":[1],"passive":[2],"Linear":[3],"Inverted":[4,78],"Pendulum":[5,79],"(H-LIP)":[6],"model":[7,81],"is":[8,64],"proposed":[9],"for":[10,17,44,89,138],"characterizing,":[11],"stabilizing":[12],"and":[13,25,55,68,82,100,111,118,129,136],"composing":[14],"periodic":[15],"orbits":[16,29,99,113],"3D":[18,106,139],"underactuated":[19,84,140],"bipedal":[20,73],"walking.":[21],"Specifically,":[22],"Period-l":[23],"(P1)":[24],"Period":[26],"-2":[27],"(P2)":[28],"are":[30,42,58,87],"geometrically":[31],"characterized":[32],"in":[33],"the":[34,38,48,53,70,83,92,101,109],"state":[35],"space":[36],"of":[37,47,52,72,108],"H-LIP.":[39],"Stepping":[40],"controllers":[41],"designed":[43],"global":[45],"stabilization":[46,137],"orbits.":[49],"Valid":[50],"ranges":[51],"gains":[54],"their":[56],"optimality":[57],"derived.":[59],"The":[60],"optimal":[61],"stepping":[62],"controller":[63],"used":[65,88],"to":[66],"create":[67],"stabilize":[69],"walking":[71,94,103,141],"robots.":[74,142],"An":[75],"actuated":[76],"Spring-loaded":[77],"(aSLIP)":[80],"robot":[85],"Cassie":[86,102],"illustration.":[90],"Both":[91],"aSLIP":[93],"with":[95,104],"PI":[96,110],"or":[97],"P2":[98,112],"all":[105],"compositions":[107],"can":[114],"be":[115],"smoothly":[116],"generated":[117],"stabilized":[119],"from":[120],"a":[121,127,130],"stepping-in-place":[122],"motion.":[123],"This":[124],"approach":[125],"provides":[126],"perspective":[128],"methodology":[131],"towards":[132],"continuous":[133],"gait":[134],"generation":[135]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}