{"id":"https://openalex.org/W4389665501","doi":"https://doi.org/10.1109/iros55552.2023.10342322","title":"An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits","display_name":"An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665501","doi":"https://doi.org/10.1109/iros55552.2023.10342322"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342322","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5103017033","display_name":"Nelson Rosa","orcid":"https://orcid.org/0000-0002-0250-1170"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nelson Rosa","raw_affiliation_strings":["Institute for Nonlinear Mechanics, University of Stuttgart,Germany","Institute for Nonlinear Mechanics, University of Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088979795","display_name":"Bassel Katamish","orcid":null},"institutions":[{"id":"https://openalex.org/I4577782","display_name":"Technische Universit\u00e4t Berlin","ror":"https://ror.org/03v4gjf40","country_code":"DE","type":"education","lineage":["https://openalex.org/I4577782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Bassel Katamish","raw_affiliation_strings":["Control Systems Group, Technical Univer-sity of Berlin,Germany","Control Systems Group, Technical Univer-sity of Berlin, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Control Systems Group, Technical Univer-sity of Berlin,Germany","institution_ids":["https://openalex.org/I4577782"]},{"raw_affiliation_string":"Control Systems Group, Technical Univer-sity of Berlin, Germany","institution_ids":["https://openalex.org/I4577782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006660313","display_name":"Maximilian Raff","orcid":"https://orcid.org/0000-0002-3918-1211"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilian Raff","raw_affiliation_strings":["Institute for Nonlinear Mechanics, University of Stuttgart,Germany","Institute for Nonlinear Mechanics, University of Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I100066346","display_name":"University of Stuttgart","ror":"https://ror.org/04vnq7t77","country_code":"DE","type":"education","lineage":["https://openalex.org/I100066346"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. David Remy","raw_affiliation_strings":["Institute for Nonlinear Mechanics, University of Stuttgart,Germany","Institute for Nonlinear Mechanics, University of Stuttgart, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart,Germany","institution_ids":["https://openalex.org/I100066346"]},{"raw_affiliation_string":"Institute for Nonlinear Mechanics, University of Stuttgart, Germany","institution_ids":["https://openalex.org/I100066346"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103017033"],"corresponding_institution_ids":["https://openalex.org/I100066346"],"apc_list":null,"apc_paid":null,"fwci":0.3206,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54425509,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"8551","last_page":"8557"},"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":0.9836000204086304,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9800000190734863,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.6984003782272339},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.5584758520126343},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5506623387336731},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5456212162971497},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5259466767311096},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5105499029159546},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.48976778984069824},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4436129033565521},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.36860302090644836},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33787888288497925},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.25036272406578064},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23390591144561768},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11200568079948425},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10774350166320801}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6984003782272339},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.5584758520126343},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5506623387336731},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5456212162971497},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5259466767311096},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5105499029159546},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.48976778984069824},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4436129033565521},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.36860302090644836},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33787888288497925},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.25036272406578064},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23390591144561768},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11200568079948425},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10774350166320801},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342322","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342322","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":22,"referenced_works":["https://openalex.org/W1504362584","https://openalex.org/W1981717102","https://openalex.org/W2016102421","https://openalex.org/W2019003456","https://openalex.org/W2046449549","https://openalex.org/W2047174209","https://openalex.org/W2074154222","https://openalex.org/W2074686910","https://openalex.org/W2075644492","https://openalex.org/W2100465140","https://openalex.org/W2163668399","https://openalex.org/W2186590998","https://openalex.org/W2601610124","https://openalex.org/W2792099719","https://openalex.org/W2962943672","https://openalex.org/W2972798201","https://openalex.org/W3129335276","https://openalex.org/W3195824924","https://openalex.org/W3205282600","https://openalex.org/W4293775970","https://openalex.org/W4312723716","https://openalex.org/W6778428183"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W4321378240","https://openalex.org/W2998375644","https://openalex.org/W2375420338","https://openalex.org/W1817375815","https://openalex.org/W3171631314","https://openalex.org/W2113408265","https://openalex.org/W2606825221","https://openalex.org/W4238347986","https://openalex.org/W2141022958"],"abstract_inverted_index":{"For":[0],"a":[1,10,25,38,86,111],"class":[2,39],"of":[3,13,19,31,40,49,60,88,98],"biped":[4,21,114],"robots":[5],"with":[6,35,68],"impulsive":[7],"dynamics":[8],"and":[9],"non-empty":[11],"set":[12],"passive":[14,58],"gaits":[15,34,59,67],"(unactuated,":[16],"periodic":[17],"motions":[18],"the":[20,47,57,61,82],"model),":[22],"we":[23],"present":[24],"method":[26],"for":[27],"computing":[28,85],"continuous":[29],"families":[30,54],"locally":[32,89],"optimal":[33,66,90,101],"respect":[36,69],"to":[37,70],"commonly":[41],"used":[42],"energetic":[43],"cost":[44,72],"functions":[45],"(e.g.,":[46],"integral":[48],"torque-squared).":[50],"We":[51,106],"compute":[52],"these":[53,71,99],"using":[55],"only":[56],"biped,":[62],"which":[63,92],"are":[64],"globally":[65,100],"functions.":[73],"Our":[74],"approach":[75,109],"fills":[76],"in":[77,81],"an":[78],"important":[79],"gap":[80],"literature":[83],"when":[84],"library":[87],"gaits,":[91],"often":[93],"do":[94],"not":[95],"make":[96],"use":[97],"solutions":[102],"as":[103],"seed":[104],"values.":[105],"demonstrate":[107],"our":[108],"on":[110],"well-studied":[112],"two-link":[113],"model.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-05-01T08:36:08.643496","created_date":"2023-12-14T00:00:00"}
