{"id":"https://openalex.org/W2975321965","doi":"https://doi.org/10.1109/tcst.2019.2939955","title":"Natural Oscillation Gait in Humanoid Biped Locomotion","display_name":"Natural Oscillation Gait in Humanoid Biped Locomotion","publication_year":2019,"publication_date":"2019-09-23","ids":{"openalex":"https://openalex.org/W2975321965","doi":"https://doi.org/10.1109/tcst.2019.2939955","mag":"2975321965"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2019.2939955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2939955","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Transactions on Control Systems Technology","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/A5005975806","display_name":"Uzair Khan","orcid":"https://orcid.org/0000-0002-1393-8255"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Uzair Ijaz Khan","raw_affiliation_strings":["School of Electrical Engineering and Computing, The University of Newcastle, Callaghan, NSW, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computing, The University of Newcastle, Callaghan, NSW, Australia","institution_ids":["https://openalex.org/I78757542"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100370053","display_name":"Zhiyong Chen","orcid":"https://orcid.org/0000-0002-2033-4249"},"institutions":[{"id":"https://openalex.org/I78757542","display_name":"University of Newcastle Australia","ror":"https://ror.org/00eae9z71","country_code":"AU","type":"education","lineage":["https://openalex.org/I78757542"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Zhiyong Chen","raw_affiliation_strings":["School of Electrical Engineering and Computing, The University of Newcastle, Callaghan, NSW, Australia"],"raw_orcid":"https://orcid.org/0000-0002-2033-4249","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computing, The University of Newcastle, Callaghan, NSW, Australia","institution_ids":["https://openalex.org/I78757542"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2991,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.56437931,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"28","issue":"6","first_page":"2309","last_page":"2321"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9830999970436096,"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/control-theory","display_name":"Control theory (sociology)","score":0.7616009712219238},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.6338098645210266},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6239507794380188},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5853759050369263},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5427610278129578},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5003430843353271},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.47039708495140076},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45317062735557556},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45251205563545227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44199076294898987},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.42375701665878296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24898096919059753},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18942046165466309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16733983159065247},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.13352426886558533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11028560996055603},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10229179263114929},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09704184532165527}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7616009712219238},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.6338098645210266},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6239507794380188},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5853759050369263},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5427610278129578},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5003430843353271},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.47039708495140076},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45317062735557556},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45251205563545227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44199076294898987},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.42375701665878296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24898096919059753},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18942046165466309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16733983159065247},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.13352426886558533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11028560996055603},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10229179263114929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09704184532165527},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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":2,"locations":[{"id":"doi:10.1109/tcst.2019.2939955","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2019.2939955","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"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 Transactions on Control Systems Technology","raw_type":"journal-article"},{"id":"pmh:uon:41802","is_oa":false,"landing_page_url":"http://hdl.handle.net/1959.13/1442801","pdf_url":null,"source":{"id":"https://openalex.org/S4377196471","display_name":"NOVA (University of Newcastle Australia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I78757542","host_organization_name":"University of Newcastle Australia","host_organization_lineage":["https://openalex.org/I78757542"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"journal article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6753975246","display_name":null,"funder_award_id":"DP150103745","funder_id":"https://openalex.org/F4320334704","funder_display_name":"Australian Research Council"}],"funders":[{"id":"https://openalex.org/F4320334704","display_name":"Australian Research Council","ror":"https://ror.org/05mmh0f86"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W193910429","https://openalex.org/W1487434675","https://openalex.org/W1579773745","https://openalex.org/W1964433140","https://openalex.org/W1970732834","https://openalex.org/W1980368527","https://openalex.org/W1981522306","https://openalex.org/W1986888374","https://openalex.org/W1994275787","https://openalex.org/W1995485163","https://openalex.org/W2016051837","https://openalex.org/W2018304242","https://openalex.org/W2031123482","https://openalex.org/W2034680838","https://openalex.org/W2036078241","https://openalex.org/W2044082389","https://openalex.org/W2047174209","https://openalex.org/W2050426505","https://openalex.org/W2055512833","https://openalex.org/W2063386317","https://openalex.org/W2063866062","https://openalex.org/W2066331401","https://openalex.org/W2074686910","https://openalex.org/W2082660820","https://openalex.org/W2093778403","https://openalex.org/W2098787727","https://openalex.org/W2110331117","https://openalex.org/W2117949838","https://openalex.org/W2123791124","https://openalex.org/W2134619701","https://openalex.org/W2138136244","https://openalex.org/W2142940863","https://openalex.org/W2146130065","https://openalex.org/W2163668399","https://openalex.org/W2166271005","https://openalex.org/W2294850882","https://openalex.org/W2415458238","https://openalex.org/W2415829127","https://openalex.org/W2567729074","https://openalex.org/W2592382802","https://openalex.org/W2738636165","https://openalex.org/W2989456006","https://openalex.org/W4246912672","https://openalex.org/W6607919379","https://openalex.org/W6658483161","https://openalex.org/W6681537379","https://openalex.org/W6696758926"],"related_works":["https://openalex.org/W2587293874","https://openalex.org/W3180160681","https://openalex.org/W1567230752","https://openalex.org/W2247043290","https://openalex.org/W1600238263","https://openalex.org/W205041164","https://openalex.org/W2145765739","https://openalex.org/W2186177376","https://openalex.org/W2805865429","https://openalex.org/W2167792456"],"abstract_inverted_index":{"Biped":[0],"locomotion":[1,17,107,153,161],"is":[2,70,100,127,178],"complex":[3],"to":[4,29,37,79,103,180],"analyze":[5,38],"in":[6,12,39,45,62,91,129],"general.":[7],"Most":[8],"of":[9,25,42,85,95,124,154,163],"the":[10,13,23,26,34,40,60,92,110,114,164,168,171,175],"models":[11],"literature":[14],"for":[15,56,151],"biped":[16,57,106,155],"utilize":[18],"hybrid":[19],"dynamics.":[20],"This":[21,49],"makes":[22,33],"kinematics":[24],"model":[27,35,55,108,169],"simple":[28],"understand.":[30],"However,":[31],"it":[32,99],"difficult":[36],"presence":[41],"discontinuous":[43],"terms":[44],"its":[46],"differential":[47],"equations.":[48],"article":[50,131],"presents":[51],"a":[52,65,73,118,133],"continuous-time":[53,105],"mathematical":[54],"robots,":[58],"modeling":[59],"discontinuities":[61],"impact":[63],"with":[64,109],"nonlinear":[66,119],"function.":[67,121],"Natural":[68],"oscillation":[69,87,126,177],"defined":[71],"as":[72,117],"free":[74],"response":[75],"under":[76,157],"damping":[77],"compensation":[78],"achieve":[80],"persistent":[81],"oscillation.":[82],"The":[83,122,141,160],"phenomenon":[84],"natural":[86,125,147,176],"was":[88],"previously":[89],"exploited":[90],"linear":[93],"dynamics":[94],"multi-segmental":[96],"locomotor,":[97],"and":[98,138],"now":[101],"extended":[102],"this":[104,130],"contact":[111],"force":[112],"from":[113],"ground":[115],"modeled":[116],"bump":[120],"idea":[123],"preceded":[128],"by":[132],"complete":[134],"framework":[135],"on":[136],"analysis":[137],"entrainment":[139],"control.":[140],"research":[142],"would":[143],"ensure":[144],"that":[145,170],"these":[146],"oscillations":[148],"are":[149,187],"responsible":[150],"forward":[152],"robots":[156],"certain":[158],"conditions.":[159],"profile":[162],"bipeds":[165],"further":[166],"validates":[167],"velocity":[172],"achieved":[173],"through":[174],"comparable":[179],"human":[181],"jogging":[182],"speeds":[183],"when":[184],"practical":[185],"constraints":[186],"enforced.":[188]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
