{"id":"https://openalex.org/W3003308218","doi":"https://doi.org/10.1109/iros40897.2019.8968215","title":"Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control","display_name":"Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W3003308218","doi":"https://doi.org/10.1109/iros40897.2019.8968215","mag":"3003308218"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968215","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":4.3987,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.95732074,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1018","last_page":"1024"},"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":0.9962000250816345,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9757999777793884,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6776819229125977},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6483354568481445},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6058142781257629},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5159807801246643},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4732794463634491},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4673699736595154},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.4255746901035309},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4117244780063629},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34060126543045044},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.31231510639190674},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26051437854766846},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.24745053052902222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.23357540369033813},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2045944631099701},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19505584239959717},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.13130635023117065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11770132184028625}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6776819229125977},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6483354568481445},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6058142781257629},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5159807801246643},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4732794463634491},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4673699736595154},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.4255746901035309},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4117244780063629},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34060126543045044},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.31231510639190674},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26051437854766846},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.24745053052902222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.23357540369033813},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2045944631099701},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19505584239959717},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.13130635023117065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11770132184028625},{"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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros40897.2019.8968215","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968215","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W187917816","https://openalex.org/W1512173993","https://openalex.org/W1969752069","https://openalex.org/W1974420726","https://openalex.org/W1981694235","https://openalex.org/W2003013030","https://openalex.org/W2009317155","https://openalex.org/W2013439434","https://openalex.org/W2029068927","https://openalex.org/W2047174209","https://openalex.org/W2101340954","https://openalex.org/W2121829700","https://openalex.org/W2123402064","https://openalex.org/W2123871098","https://openalex.org/W2126729486","https://openalex.org/W2129224530","https://openalex.org/W2133859362","https://openalex.org/W2162109810","https://openalex.org/W2199168279","https://openalex.org/W2217484997","https://openalex.org/W2413990562","https://openalex.org/W2883488766","https://openalex.org/W2909331752","https://openalex.org/W2912237277","https://openalex.org/W2969111820","https://openalex.org/W3003965754","https://openalex.org/W3011097823","https://openalex.org/W6642513403","https://openalex.org/W6657954875","https://openalex.org/W6768848979","https://openalex.org/W6775375944"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W1859914877","https://openalex.org/W2108723098","https://openalex.org/W2004285645","https://openalex.org/W2661345901","https://openalex.org/W2157718988","https://openalex.org/W2683725729"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"3D":[3],"humanoid":[4,112],"walking":[5,20,130,160],"is":[6,16,66,84,108,150],"decoupled":[7,17],"into":[8,18],"periodic":[9,64],"and":[10,24,38,91],"transitional":[11,82],"motion,":[12],"each":[13,58],"of":[14,53,60,95,127],"which":[15,107],"planar":[19,61,97],"in":[21,105,140,156],"the":[22,50,81,96,101,111,122,128,141],"sagittal":[23],"lateral":[25],"plane.":[26],"Reduced":[27],"order":[28],"models":[29,37],"(ROMs),":[30],"i.e.":[31],"actuated":[32],"Spring-loaded":[33],"Inverted":[34,40],"Pendulum":[35,41],"(aSLIP)":[36],"Hybrid-Linear":[39],"(H-LIP)":[42],"models,":[43],"are":[44,131,162],"utilized":[45],"for":[46,57,73,89,136,143],"motion":[47,65,75,83],"generation":[48],"on":[49,110,152],"desired":[51,102,134],"center":[52],"mass":[54],"(COM)":[55],"dynamics":[56,99,104],"type":[59],"motion.":[62],"The":[63,147],"planned":[67,85],"via":[68,86,113],"point":[69],"foot":[70],"(underactuated)":[71],"ROMs":[72,88],"dynamic":[74],"with":[76],"minimum":[77],"ankle":[78],"actuation,":[79],"while":[80],"foot-actuated":[87],"fast":[90],"smooth":[92,144],"transition.":[93],"Composition":[94],"COM":[98,103],"yields":[100],"3D,":[106],"embedded":[109],"control":[114],"Lyapunov":[115],"function":[116],"based":[117],"Quadratic":[118],"programs":[119],"(CLF-QPs).":[120],"Additionally,":[121],"ground":[123,137],"reaction":[124],"force":[125],"profiles":[126],"aSLIP":[129],"used":[132],"as":[133],"references":[135],"contact":[138],"forces":[139],"CLF-QPs":[142],"domain":[145],"transitions.":[146],"proposed":[148],"framework":[149],"realized":[151],"a":[153],"lower-limb":[154],"exoskeleton":[155],"simulation":[157],"wherein":[158],"different":[159],"motions":[161],"achieved.":[163]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
