{"id":"https://openalex.org/W2143727296","doi":"https://doi.org/10.1109/robot.2005.1570470","title":"Synthesis of Controllers for Stylized Planar Bipedal Walking","display_name":"Synthesis of Controllers for Stylized Planar Bipedal Walking","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2143727296","doi":"https://doi.org/10.1109/robot.2005.1570470","mag":"2143727296"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5063608570","display_name":"Dana Sharon","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"D. Sharon","raw_affiliation_strings":["Department of Computer Science, University of British Columbia, Vancouver, BC, Canada","Department of Computer Science University of British Columbia Vancouver, BC, V6T 1Z4, Canada dsharon@cs.ubc.ca"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Computer Science University of British Columbia Vancouver, BC, V6T 1Z4, Canada dsharon@cs.ubc.ca","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. van de Panne","raw_affiliation_strings":["Department of Computer Science, University of British Columbia, Vancouver, BC, Canada","Department of Computer Science, University of British Columbia, Vancouver, BC Canada"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of British Columbia, Vancouver, BC, Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Computer Science, University of British Columbia, Vancouver, BC Canada","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5063608570"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":4.7429,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.95029806,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2387","last_page":"2392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9538999795913696,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9473999738693237,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7003307342529297},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6762512922286987},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6662972569465637},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5890495777130127},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5759972929954529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5735654830932617},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5651759505271912},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5285317301750183},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5159381031990051},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4800237715244293},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4140075743198395},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33023303747177124},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2741059958934784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2556680142879486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18712180852890015},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12426602840423584}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7003307342529297},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6762512922286987},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6662972569465637},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5890495777130127},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5759972929954529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5735654830932617},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5651759505271912},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5285317301750183},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5159381031990051},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4800237715244293},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4140075743198395},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33023303747177124},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2741059958934784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2556680142879486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18712180852890015},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12426602840423584},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2005.1570470","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570470","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.138.3193","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.138.3193","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cs.ubc.ca/~van/papers/2005-icra-walking.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W12965381","https://openalex.org/W1494650646","https://openalex.org/W1509504119","https://openalex.org/W1777239053","https://openalex.org/W1987574258","https://openalex.org/W2054875385","https://openalex.org/W2055616074","https://openalex.org/W2096498654","https://openalex.org/W2098523767","https://openalex.org/W2102240748","https://openalex.org/W2107063340","https://openalex.org/W2107726111","https://openalex.org/W2109008048","https://openalex.org/W2133859362","https://openalex.org/W2142992961","https://openalex.org/W2149606028","https://openalex.org/W2153917213","https://openalex.org/W2155307968","https://openalex.org/W2186177054","https://openalex.org/W6600517022","https://openalex.org/W6630552132","https://openalex.org/W6638088447","https://openalex.org/W6686658334","https://openalex.org/W6987901613"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2166802441","https://openalex.org/W2514466123"],"abstract_inverted_index":{"We":[0,82],"present":[1],"a":[2,14,23,48,60,74,78],"method":[3],"for":[4,7,91],"computing":[5],"controllers":[6],"stable":[8],"planar-biped":[9],"walking":[10],"gaits":[11],"that":[12,27,104],"follow":[13],"particular":[15],"style.":[16],"The":[17,53],"desired":[18,79],"style":[19],"is":[20,39,56],"specified":[21],"with":[22,107],"kinematic":[24],"target":[25,80],"trajectory":[26],"may":[28,30],"or":[29],"not":[31],"be":[32],"physically":[33],"realizable.":[34],"A":[35],"nearest-neighbor":[36],"controller":[37],"representation":[38],"used":[40],"and":[41,102,113],"its":[42],"free":[43],"parameters":[44],"are":[45,105],"optimized":[46],"using":[47],"local":[49],"parameter":[50],"search":[51],"technique.":[52],"optimization":[54],"function":[55],"constructed":[57],"by":[58],"integrating":[59],"mass-distance":[61],"metric":[62],"over":[63,97],"fixed":[64],"time":[65],"intervals,":[66],"which":[67],"serves":[68],"to":[69,109],"measure":[70],"the":[71],"deviation":[72],"of":[73,93,99],"simulated":[75,84],"motion":[76],"from":[77],"motion.":[81],"demonstrate":[83],"bipedal":[85],"walks":[86,90,96,103],"having":[87],"user-specified":[88],"styles,":[89],"bipeds":[92],"varying":[94],"dimensions,":[95],"terrain":[98,111],"known":[100],"slopes,":[101],"robust":[106],"respect":[108],"unobserved":[110],"variations":[112],"modeling":[114],"errors.":[115]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
