{"id":"https://openalex.org/W4402401474","doi":"https://doi.org/10.1109/lra.2024.3458592","title":"Iterative Periodic Running Control Through Swept Angle Adjustment With Modified SLIP Model","display_name":"Iterative Periodic Running Control Through Swept Angle Adjustment With Modified SLIP Model","publication_year":2024,"publication_date":"2024-09-10","ids":{"openalex":"https://openalex.org/W4402401474","doi":"https://doi.org/10.1109/lra.2024.3458592"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3458592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3458592","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5076337178","display_name":"Woosong Kang","orcid":"https://orcid.org/0000-0002-7967-1717"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Woosong Kang","raw_affiliation_strings":["Korea Institute of Machinery and Materials (KIMM), Daejon, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7967-1717","affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials (KIMM), Daejon, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113375969","display_name":"Jeil Jeong","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jeil Jeong","raw_affiliation_strings":["Robotics Program, KAIST, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0009-0009-5253-4219","affiliations":[{"raw_affiliation_string":"Robotics Program, KAIST, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"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":["Department of Robotics Engineering, DGIST, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0009-0001-5045-3513","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, South Korea","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":["Department of Robotics Engineering, DGIST, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0009-0000-7187-9030","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101751879","display_name":"Dong Il Park","orcid":"https://orcid.org/0000-0003-4560-6340"},"institutions":[{"id":"https://openalex.org/I4210111434","display_name":"Korea Institute of Machinery & Materials","ror":"https://ror.org/01qcq9d74","country_code":"KR","type":"facility","lineage":["https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210111434","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dong Il Park","raw_affiliation_strings":["Korea Institute of Machinery and Materials (KIMM), Daejon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-4560-6340","affiliations":[{"raw_affiliation_string":"Korea Institute of Machinery and Materials (KIMM), Daejon, South Korea","institution_ids":["https://openalex.org/I4210111434"]}]},{"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":["Department of Robotics Engineering, DGIST, Daegu, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-0838-163X","affiliations":[{"raw_affiliation_string":"Department of Robotics Engineering, DGIST, Daegu, South Korea","institution_ids":["https://openalex.org/I193352282"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1628,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.45654972,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"9","issue":"11","first_page":"9605","last_page":"9612"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9973000288009644,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/slip","display_name":"Slip (aerodynamics)","score":0.6760883927345276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43345585465431213},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4301319420337677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42633023858070374},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.32139596343040466},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26363271474838257},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22897595167160034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13761642575263977},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.06636267900466919}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6760883927345276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43345585465431213},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4301319420337677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42633023858070374},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.32139596343040466},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26363271474838257},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22897595167160034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13761642575263977},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.06636267900466919}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3458592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3458592","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6600000262260437,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1009716055","display_name":null,"funder_award_id":"RS-2024-00354028","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"}],"funders":[{"id":"https://openalex.org/F4320322120","display_name":"National Research Foundation of Korea","ror":"https://ror.org/013aysd81"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1597325486","https://openalex.org/W1607633572","https://openalex.org/W1970912542","https://openalex.org/W1972051539","https://openalex.org/W1981918565","https://openalex.org/W1982658303","https://openalex.org/W1989796457","https://openalex.org/W2015201597","https://openalex.org/W2037100263","https://openalex.org/W2071853141","https://openalex.org/W2078139367","https://openalex.org/W2081031163","https://openalex.org/W2170320699","https://openalex.org/W2316270076","https://openalex.org/W2415959992","https://openalex.org/W2509995583","https://openalex.org/W2884182715","https://openalex.org/W2943836386","https://openalex.org/W2989734230","https://openalex.org/W3011716781","https://openalex.org/W3090758067","https://openalex.org/W3091282566","https://openalex.org/W3095476189","https://openalex.org/W3135169050","https://openalex.org/W3136437429","https://openalex.org/W3173878680","https://openalex.org/W4200187977","https://openalex.org/W4214634122","https://openalex.org/W4312350159","https://openalex.org/W4320920759","https://openalex.org/W4393118507","https://openalex.org/W6797540924"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W2382290278","https://openalex.org/W4395014643"],"abstract_inverted_index":{"This":[0,79,127],"paper":[1],"presents":[2],"a":[3,10,56,108],"periodic":[4,97,118,134],"running":[5,20,38,75],"control":[6,49,110,128],"strategy":[7],"based":[8],"on":[9],"modified":[11],"Spring-Loaded":[12],"Inverted":[13],"Pendulum":[14],"(SLIP)":[15],"model":[16,28,60,80],"to":[17,72,146,150],"achieve":[18],"stable":[19,74],"at":[21],"various":[22,77,165],"velocities.":[23,78],"While":[24],"the":[25,67,82,86,91,100,114,122,157,170],"traditional":[26],"SLIP":[27,59],"is":[29,160],"valued":[30],"for":[31,95],"its":[32,40,43],"simplicity":[33],"and":[34,45,69,89,132,172],"intuitive":[35],"representation":[36,84],"of":[37,85,116,124,156,174],"dynamics,":[39],"limitations":[41],"impede":[42],"extension":[44],"integration":[46],"with":[47],"feedback":[48,109],"systems.":[50],"To":[51],"address":[52],"this,":[53],"we":[54,106,142],"introduce":[55],"novel":[57],"Quasi-Linearized":[58],"(QLSLIP)":[61],"that":[62,112],"incorporates":[63],"additional":[64],"forces":[65],"in":[66,121,136,169],"radial":[68],"angular":[70],"directions":[71],"enable":[73],"across":[76,138],"simplifies":[81],"analytical":[83],"stance":[87],"phase":[88],"defines":[90],"required":[92],"swept":[93],"angle":[94],"maintaining":[96],"motion":[98,135],"during":[99],"flight":[101],"phase.":[102],"Using":[103],"this":[104,148],"model,":[105],"develop":[107],"system":[111],"ensures":[113],"stability":[115,171],"QLSLIP-based":[117],"locomotion,":[119],"even":[120],"presence":[123],"external":[125],"disturbances.":[126],"framework":[129],"optimizes":[130],"trajectories":[131],"sustains":[133],"real-time":[137],"diverse":[139],"scenarios.":[140],"Additionally,":[141],"propose":[143],"an":[144],"algorithm":[145,159],"extend":[147],"approach":[149],"articulated":[151],"leg":[152],"mechanisms.":[153],"The":[154],"effectiveness":[155],"proposed":[158],"validated":[161],"through":[162],"simulations":[163],"under":[164],"conditions,":[166],"demonstrating":[167],"improvements":[168],"performance":[173],"running.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}