{"id":"https://openalex.org/W1570905783","doi":"https://doi.org/10.1109/tepra.2015.7219688","title":"Design of fast walking with one- versus two-at-a-time swing leg motions for RoboSimian","display_name":"Design of fast walking with one- versus two-at-a-time swing leg motions for RoboSimian","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1570905783","doi":"https://doi.org/10.1109/tepra.2015.7219688","mag":"1570905783"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2015.7219688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2015.7219688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5071708309","display_name":"Katie Byl","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katie Byl","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA","UCSB Robotics Lab, Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA 93106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"UCSB Robotics Lab, Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA 93106","institution_ids":["https://openalex.org/I154570441"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033674800","display_name":"Marten Byl","orcid":null},"institutions":[{"id":"https://openalex.org/I154570441","display_name":"University of California, Santa Barbara","ror":"https://ror.org/02t274463","country_code":"US","type":"education","lineage":["https://openalex.org/I154570441"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marten Byl","raw_affiliation_strings":["Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA","UCSB Robotics Lab, Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA 93106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA","institution_ids":["https://openalex.org/I154570441"]},{"raw_affiliation_string":"UCSB Robotics Lab, Dept. of Electrical and Computer Engineering, University of California at Santa Barbara, Santa Barbara, CA 93106","institution_ids":["https://openalex.org/I154570441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I154570441"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"54","issue":null,"first_page":"1","last_page":"7"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9930999875068665,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9872000217437744,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6837261915206909},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6409168243408203},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6190598011016846},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.573076069355011},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5667256116867065},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.5290747284889221},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5265698432922363},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5066795945167542},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.49947261810302734},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.488398015499115},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.48228195309638977},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.45682740211486816},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41291293501853943},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.29124677181243896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20872196555137634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18110859394073486},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.14204999804496765},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.136508047580719},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09095138311386108},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08277526497840881}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6837261915206909},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6409168243408203},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6190598011016846},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.573076069355011},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5667256116867065},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.5290747284889221},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5265698432922363},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5066795945167542},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.49947261810302734},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.488398015499115},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.48228195309638977},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.45682740211486816},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41291293501853943},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.29124677181243896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20872196555137634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18110859394073486},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14204999804496765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.136508047580719},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09095138311386108},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08277526497840881},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tepra.2015.7219688","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2015.7219688","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Technologies for Practical Robot Applications (TePRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1569732988","https://openalex.org/W1582076359","https://openalex.org/W1598124265","https://openalex.org/W1778214895","https://openalex.org/W1874049655","https://openalex.org/W1951089663","https://openalex.org/W1967775700","https://openalex.org/W2032381729","https://openalex.org/W2037729465","https://openalex.org/W2045918489","https://openalex.org/W2048283170","https://openalex.org/W2048820947","https://openalex.org/W2050951623","https://openalex.org/W2057134777","https://openalex.org/W2088373173","https://openalex.org/W2093575436","https://openalex.org/W2110333200","https://openalex.org/W2112624395","https://openalex.org/W2133859362","https://openalex.org/W2145148135","https://openalex.org/W2145705329","https://openalex.org/W2284876611","https://openalex.org/W2570393720","https://openalex.org/W4245155680","https://openalex.org/W4285719527","https://openalex.org/W6635753909","https://openalex.org/W6681292954"],"related_works":["https://openalex.org/W2537091977","https://openalex.org/W2744818472","https://openalex.org/W2186639602","https://openalex.org/W1253671258","https://openalex.org/W2000932381","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W2181837138","https://openalex.org/W2169426407"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"two":[3],"prototype":[4],"fast":[5],"walking":[6,198,207],"gaits":[7,194],"for":[8,17,152,160,176,190],"the":[9,47,58,65,105,121,140,170,193,204,223],"quadruped":[10],"robot":[11,48,171],"RoboSimian,":[12],"along":[13],"with":[14,71,120],"experimental":[15],"results":[16],"each.":[18],"The":[19,29],"first":[20],"gait":[21,31,162,211],"uses":[22,32],"a":[23,33,50,77,132],"statically":[24],"stable":[25],"one-at-a-time":[26],"swing-leg":[27],"crawl.":[28],"second":[30],"two-at-a-time":[34],"swingleg":[35],"motion,":[36],"which":[37],"requires":[38],"deliberate":[39],"planning":[40],"of":[41,60,79,108,126,135,142,169,188,192,209,222],"zero-moment":[42],"point":[43],"(ZMP)":[44],"to":[45,63,103,165,173],"balance":[46],"on":[49],"narrow":[51],"support":[52],"base.":[53],"Of":[54],"particular":[55],"focus":[56],"are":[57,130,215],"development":[59],"practical":[61,150],"means":[62,78],"exploit":[64],"fact":[66],"that":[67,99,185],"RoboSimian":[68],"has":[69,100],"high-dimensionality,":[70],"seven":[72],"actuators":[73],"per":[74],"limb,":[75],"as":[76],"partially":[80],"overcoming":[81],"low":[82],"joint":[83,113,166],"velocity":[84,167],"limits":[85,168,221],"at":[86],"each":[87,109,143,161,191,210],"joint.":[88],"For":[89],"both":[90],"gaits,":[91],"we":[92,202],"use":[93,125],"an":[94],"inverse":[95],"kinematics":[96],"(IK)":[97],"table":[98],"been":[101],"designed":[102],"maximize":[104],"reachable":[106],"workspace":[107],"limb":[110],"while":[111],"minimizing":[112],"velocities":[114],"during":[115],"end":[116],"effector":[117],"motions.":[118],"Even":[119],"simplification":[122],"provided":[123],"by":[124],"IK":[127],"solutions,":[128],"there":[129],"still":[131],"wide":[133],"range":[134],"variables":[136],"left":[137],"open":[138],"in":[139,179],"design":[141],"gait.":[144],"We":[145],"discuss":[146],"these":[147],"and":[148,154,172,212],"present":[149],"methodologies":[151],"parameterizing":[153],"subsequently":[155],"deriving":[156],"approximate":[157],"time-optimal":[158],"solutions":[159],"type,":[163],"subject":[164],"real-world":[174],"requirements":[175],"safety":[177],"margins":[178],"maintaining":[180],"adequate":[181],"balance.":[182],"Results":[183],"show":[184],"careful":[186],"choice":[187],"parameters":[189],"improves":[195],"their":[196],"respective":[197],"speeds":[199,208],"significantly.":[200],"Finally,":[201],"compare":[203],"fastest":[205],"achievable":[206],"find":[213],"they":[214],"nearly":[216],"equivalent,":[217],"given":[218],"current":[219],"performance":[220],"robot.":[224]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}