{"id":"https://openalex.org/W2140293116","doi":"https://doi.org/10.1109/robot.2009.5152708","title":"Modeling and control of the monopedal robot Thumper","display_name":"Modeling and control of the monopedal robot Thumper","publication_year":2009,"publication_date":"2009-05-01","ids":{"openalex":"https://openalex.org/W2140293116","doi":"https://doi.org/10.1109/robot.2009.5152708","mag":"2140293116"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2009.5152708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5057980698","display_name":"Ioannis Poulakakis","orcid":"https://orcid.org/0000-0001-7045-1075"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ioannis Poulakakis","raw_affiliation_strings":["Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109-2122, U.S.A"],"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109-2122, U.S.A","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037697344","display_name":"Jessy W. Grizzle","orcid":"https://orcid.org/0000-0001-7586-0142"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. W. Grizzle","raw_affiliation_strings":["Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109-2122, U.S.A"],"affiliations":[{"raw_affiliation_string":"Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Control Systems Laboratory, Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, 48109-2122, U.S.A","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5057980698"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.6037,"has_fulltext":false,"cited_by_count":33,"citation_normalized_percentile":{"value":0.83605687,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3327","last_page":"3334"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9955999851226807,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9858999848365784,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.773200273513794},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.7465075254440308},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.679049015045166},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6740789413452148},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.575883150100708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5497838854789734},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.4710533320903778},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.45499876141548157},{"id":"https://openalex.org/keywords/holonomic-constraints","display_name":"Holonomic constraints","score":0.446318656206131},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3943392038345337},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35110703110694885},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33690500259399414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2587870955467224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16167965531349182}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.773200273513794},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.7465075254440308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.679049015045166},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6740789413452148},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.575883150100708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5497838854789734},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.4710533320903778},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.45499876141548157},{"id":"https://openalex.org/C116721078","wikidata":"https://www.wikidata.org/wiki/Q1048005","display_name":"Holonomic constraints","level":2,"score":0.446318656206131},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3943392038345337},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35110703110694885},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33690500259399414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2587870955467224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16167965531349182},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2009.5152708","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2009.5152708","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.152.6769","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.152.6769","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.umich.edu/~grizzle/papers/poulakakis_grizzle_ICRA09_sub.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.713.1515","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.713.1515","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.me.udel.edu/%7Epoulakas/Publications/papers/poulakakis_grizzle_ICRA09_sub.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W19771005","https://openalex.org/W205789419","https://openalex.org/W1504362584","https://openalex.org/W1515570182","https://openalex.org/W1547649699","https://openalex.org/W2000291657","https://openalex.org/W2099586405","https://openalex.org/W2105676390","https://openalex.org/W2128198426","https://openalex.org/W2129541023","https://openalex.org/W2152383438","https://openalex.org/W2154205451","https://openalex.org/W2161427949","https://openalex.org/W3217246742","https://openalex.org/W4285719527","https://openalex.org/W6608434261","https://openalex.org/W6630693504","https://openalex.org/W6682686474"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W1984495143","https://openalex.org/W4308297792","https://openalex.org/W2158185825","https://openalex.org/W2128291411"],"abstract_inverted_index":{"A":[0],"hybrid":[1,62,93,104],"controller":[2,107],"that":[3,43],"induces":[4],"stable":[5,124],"running":[6,125],"gaits":[7],"on":[8,69],"a":[9,17,21,25,40,91],"monopedal":[10],"robot":[11,15,89],"is":[12,58],"developed.":[13],"The":[14,37,54,106],"features":[16],"rigid":[18],"leg":[19],"with":[20,28,115],"revolute":[22],"knee":[23],"and":[24,66,120],"heavy":[26],"torso":[27,38],"center":[29],"of":[30,51,87,112],"mass":[31],"located":[32],"far":[33],"from":[34],"the":[35,48,52,61,73,85,88,96,102,109,116],"hip.":[36],"houses":[39],"novel":[41],"powertrain":[42],"provides":[44],"series":[45],"compliance":[46],"in":[47],"compression":[49],"direction":[50],"leg.":[53],"proposed":[55],"control":[56,78,100],"law":[57],"developed":[59],"within":[60],"zero":[63],"dynamics":[64,86,119],"framework":[65],"it":[67],"acts":[68],"two":[70],"levels.":[71],"On":[72,95],"first":[74],"level,":[75,98],"continuous":[76],"within-stride":[77],"asymptotically":[79],"imposes":[80],"(virtual)":[81],"holonomic":[82],"constraints":[83,131],"reducing":[84],"to":[90],"lower-dimensional":[92],"subsystem.":[94,105],"second":[97],"event-based":[99],"stabilizes":[101],"resulting":[103],"achieves":[108],"dual":[110],"objectives":[111],"working":[113],"harmoniously":[114],"system's":[117],"natural":[118],"inducing":[121],"provably":[122],"exponentially":[123],"motions,":[126],"while":[127],"all":[128],"relevant":[129],"physical":[130],"are":[132],"respected.":[133]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
