{"id":"https://openalex.org/W2944875831","doi":"https://doi.org/10.1109/ner.2019.8716919","title":"Development of a Platform to Evaluate Principles of Bipedal Locomotion Using Dynamical Movement Primitives","display_name":"Development of a Platform to Evaluate Principles of Bipedal Locomotion Using Dynamical Movement Primitives","publication_year":2019,"publication_date":"2019-03-01","ids":{"openalex":"https://openalex.org/W2944875831","doi":"https://doi.org/10.1109/ner.2019.8716919","mag":"2944875831"},"language":"en","primary_location":{"id":"doi:10.1109/ner.2019.8716919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ner.2019.8716919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 9th International IEEE/EMBS Conference on Neural Engineering (NER)","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/A5097468902","display_name":"Nozari P. Pouria","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nozari P. Pouria","raw_affiliation_strings":["Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067590269","display_name":"James M. Finley","orcid":"https://orcid.org/0000-0003-2679-2221"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"James M. Finley","raw_affiliation_strings":["Division of Biokinesiology and Physical Therapy, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Division of Biokinesiology and Physical Therapy, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0997,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.42398941,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"205","issue":null,"first_page":"1062","last_page":"1065"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9804999828338623,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9480000138282776,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7508895397186279},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.686527669429779},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6209314465522766},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.6093786358833313},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6008447408676147},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5161200761795044},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42291027307510376},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.4152737259864807},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3788679242134094},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33633148670196533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28931230306625366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23808971047401428},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.143843412399292},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13941025733947754},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.1106366515159607},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.10570228099822998},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.0883374810218811}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7508895397186279},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.686527669429779},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6209314465522766},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.6093786358833313},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6008447408676147},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5161200761795044},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42291027307510376},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.4152737259864807},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3788679242134094},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33633148670196533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28931230306625366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23808971047401428},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.143843412399292},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13941025733947754},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.1106366515159607},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.10570228099822998},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0883374810218811},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ner.2019.8716919","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ner.2019.8716919","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 9th International IEEE/EMBS Conference on Neural Engineering (NER)","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":19,"referenced_works":["https://openalex.org/W1989099984","https://openalex.org/W2001139447","https://openalex.org/W2017977879","https://openalex.org/W2021574739","https://openalex.org/W2048476354","https://openalex.org/W2071307076","https://openalex.org/W2113647903","https://openalex.org/W2115267923","https://openalex.org/W2127149049","https://openalex.org/W2128191380","https://openalex.org/W2132992113","https://openalex.org/W2136719407","https://openalex.org/W2155307968","https://openalex.org/W2156174987","https://openalex.org/W2167804690","https://openalex.org/W2480204065","https://openalex.org/W4324106947","https://openalex.org/W6678364419","https://openalex.org/W6702989015"],"related_works":["https://openalex.org/W2028410352","https://openalex.org/W2073284533","https://openalex.org/W2616327091","https://openalex.org/W2105028780","https://openalex.org/W2042776672","https://openalex.org/W4253098096","https://openalex.org/W1973997235","https://openalex.org/W2130288220","https://openalex.org/W2952578757","https://openalex.org/W2587293874"],"abstract_inverted_index":{"The":[0],"control":[1,37,86],"of":[2,13,25,35,63,91,98,105,114,128,147,163],"bipedal":[3,54],"locomotion":[4],"is":[5],"often":[6],"considered":[7],"to":[8,16,32,84,131,152,160],"arise":[9],"from":[10,89,139],"the":[11,33,36,96,110,115,126,129,133,137,144,161],"optimization":[12,97,171],"variables":[14],"related":[15],"energetic":[17],"cost":[18],"and":[19,39,72,78,112,157],"stability.":[20],"However,":[21],"developing":[22],"model-based":[23],"predictions":[24],"optimal":[26,64],"strategies":[27],"can":[28,57,169],"be":[29,59],"challenging":[30],"due":[31],"high-dimensionality":[34],"space":[38],"challenges":[40],"associated":[41],"with":[42,166],"optimizing":[43],"potentially":[44],"conflicting":[45],"objectives.":[46],"Here,":[47],"we":[48,168],"present":[49],"a":[50,69,73,102,120,140,154,164],"framework":[51],"for":[52],"simulating":[53],"gait":[55,65,99,156],"which":[56,167],"ultimately":[58,158],"used":[60,79],"predictive":[61],"simulations":[62],"patterns.":[66,116],"We":[67,117],"modeled":[68],"human-like":[70,155],"biped":[71,134],"treadmill":[74],"in":[75],"Matlab":[76],"Simscape":[77],"Dynamical":[80],"Movement":[81],"Primitives":[82],"(DMP)":[83],"generate":[85,153],"joint-level":[87],"controllers":[88],"demonstrations":[90],"human":[92],"walking.":[93],"DMPs":[94,130],"facilitate":[95],"patterns":[100],"through":[101],"small":[103],"number":[104],"free":[106],"parameters,":[107],"such":[108],"as":[109],"amplitude":[111,127],"timing":[113],"also":[118],"implemented":[119],"simple":[121],"feedback":[122],"controller":[123,149],"that":[124],"variated":[125],"stabilize":[132],"based":[135],"on":[136,143],"deviation":[138],"reference":[141],"point":[142],"treadmill.":[145],"Optimizing":[146],"this":[148],"allowed":[150],"us":[151],"contributed":[159],"development":[162],"platform":[165],"explore":[170],"principles":[172],"during":[173],"locomotion.":[174]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
