{"id":"https://openalex.org/W4400811610","doi":"https://doi.org/10.1109/isie54533.2024.10595700","title":"SLIP Nature Embodied Robust Quadruped Robot Control","display_name":"SLIP Nature Embodied Robust Quadruped Robot Control","publication_year":2024,"publication_date":"2024-06-18","ids":{"openalex":"https://openalex.org/W4400811610","doi":"https://doi.org/10.1109/isie54533.2024.10595700"},"language":"en","primary_location":{"id":"doi:10.1109/isie54533.2024.10595700","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isie54533.2024.10595700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 33rd International Symposium on Industrial Electronics (ISIE)","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/A5100781459","display_name":"Jin Hong","orcid":"https://orcid.org/0000-0002-8757-2700"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jin Song Hong","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114091749","display_name":"Changmin Yeo","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Changmin Yeo","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007009447","display_name":"Sangjin Bae","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangjin Bae","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085877167","display_name":"Jeong-Woo Hong","orcid":null},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeongwoo Hong","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I193352282","display_name":"Daegu Gyeongbuk Institute of Science and Technology","ror":"https://ror.org/03frjya69","country_code":"KR","type":"education","lineage":["https://openalex.org/I193352282"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"DGIST,Department of Robotics and Mechatronics Engineering,Daegu,Korea,42988","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I193352282"],"apc_list":null,"apc_paid":null,"fwci":0.2142,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47622004,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"4"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9824000000953674,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9751999974250793,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9736999869346619,"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/robot","display_name":"Robot","score":0.6760265827178955},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6697758436203003},{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.5984290838241577},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46480289101600647},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4370710849761963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3589916527271271},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.34293657541275024},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3383708596229553},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23253405094146729},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1474616527557373},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14186298847198486}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6760265827178955},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6697758436203003},{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.5984290838241577},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46480289101600647},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4370710849761963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3589916527271271},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.34293657541275024},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3383708596229553},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23253405094146729},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1474616527557373},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14186298847198486}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/isie54533.2024.10595700","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/isie54533.2024.10595700","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 33rd International Symposium on Industrial Electronics (ISIE)","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":18,"referenced_works":["https://openalex.org/W1981918565","https://openalex.org/W2009317155","https://openalex.org/W2016862203","https://openalex.org/W2092959905","https://openalex.org/W2150317946","https://openalex.org/W2294151168","https://openalex.org/W2876406920","https://openalex.org/W2884182715","https://openalex.org/W2943836386","https://openalex.org/W3004116281","https://openalex.org/W3048311962","https://openalex.org/W3082421160","https://openalex.org/W3101583793","https://openalex.org/W3170422092","https://openalex.org/W3172321357","https://openalex.org/W4200187977","https://openalex.org/W4200517107","https://openalex.org/W4388505239"],"related_works":["https://openalex.org/W2380179524","https://openalex.org/W4283365723","https://openalex.org/W2963001125","https://openalex.org/W2091233881","https://openalex.org/W2352366064","https://openalex.org/W4250820896","https://openalex.org/W2124102101","https://openalex.org/W4250305970","https://openalex.org/W1484550171","https://openalex.org/W2333383158"],"abstract_inverted_index":{"Recent":[0],"research":[1,22],"on":[2,12,29,71,88],"quadruped":[3,98],"robots":[4,68],"has":[5],"been":[6],"achieving":[7],"high-performance":[8,26],"motion":[9,27,100],"control":[10,42,56,95],"based":[11,28,57],"optimization":[13],"and":[14,31,107,122,131],"reinforcement":[15],"learning.":[16],"However,":[17],"there":[18],"is":[19,127],"still":[20],"ongoing":[21],"aimed":[23],"at":[24],"demonstrating":[25],"simple":[30],"dominant":[32],"dynamic":[33],"principles.":[34],"In":[35],"this":[36],"paper,":[37],"we":[38,91],"proposed":[39,78,117],"a":[40,61,93,120],"novel":[41],"approach":[43,83],"that":[44,69,84],"projects":[45],"Spring-Loaded":[46],"Inverted":[47],"Pendulum":[48],"(SLIP)":[49],"dynamics":[50],"to":[51],"articulated":[52],"legs,":[53],"utilizing":[54],"admittance":[55],"force":[58],"observer":[59],"within":[60],"rotating":[62],"workspace":[63],"(RWFOB).":[64],"Unlike":[65],"other":[66],"legged":[67],"depend":[70],"sensor-based":[72],"estimation":[73],"of":[74,115],"external":[75],"forces,":[76],"the":[77,86,103,116],"method":[79],"presents":[80],"an":[81],"alternative":[82],"reduces":[85],"reliance":[87],"sensors.":[89],"Additionally,":[90],"introduce":[92],"comprehensive":[94],"framework":[96,118],"for":[97],"robot":[99],"control,":[101],"establishing":[102],"connection":[104],"between":[105],"trunk":[106,124],"SLIP-realized":[108],"leg":[109],"movements":[110],"using":[111],"Jacobian.":[112],"The":[113],"effectiveness":[114],"as":[119],"robust":[121],"reliable":[123],"feedback":[125],"controller":[126],"validated":[128],"through":[129],"simulation":[130],"experiments.":[132]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
