{"id":"https://openalex.org/W2114115207","doi":"https://doi.org/10.1109/tro.2009.2028762","title":"A Control Approach for Actuated Dynamic Walking in Biped Robots","display_name":"A Control Approach for Actuated Dynamic Walking in Biped Robots","publication_year":2009,"publication_date":"2009-09-01","ids":{"openalex":"https://openalex.org/W2114115207","doi":"https://doi.org/10.1109/tro.2009.2028762","mag":"2114115207"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2009.2028762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2028762","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","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/A5089213370","display_name":"David J. Braun","orcid":"https://orcid.org/0000-0002-3672-3847"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"D.J. Braun","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","[Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA]","institution_ids":["https://openalex.org/I200719446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017941444","display_name":"Michael Goldfarb","orcid":"https://orcid.org/0000-0002-6622-095X"},"institutions":[{"id":"https://openalex.org/I200719446","display_name":"Vanderbilt University","ror":"https://ror.org/02vm5rt34","country_code":"US","type":"education","lineage":["https://openalex.org/I200719446"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Goldfarb","raw_affiliation_strings":["Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","[Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA]"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA","institution_ids":["https://openalex.org/I200719446"]},{"raw_affiliation_string":"[Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA]","institution_ids":["https://openalex.org/I200719446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5089213370"],"corresponding_institution_ids":["https://openalex.org/I200719446"],"apc_list":null,"apc_paid":null,"fwci":4.2245,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.94035709,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":99},"biblio":{"volume":"25","issue":"6","first_page":"1292","last_page":"1303"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9939000010490417,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8513091802597046},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.668000340461731},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6415848731994629},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6243096590042114},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5985216498374939},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5722206830978394},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.5549889206886292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5507954359054565},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5498608350753784},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4849972426891327},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.47655895352363586},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46867284178733826},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3725716471672058},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.328937292098999},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20098572969436646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11350846290588379}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8513091802597046},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.668000340461731},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6415848731994629},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6243096590042114},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5985216498374939},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5722206830978394},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.5549889206886292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5507954359054565},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5498608350753784},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4849972426891327},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.47655895352363586},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46867284178733826},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3725716471672058},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.328937292098999},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20098572969436646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11350846290588379},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2009.2028762","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2009.2028762","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6499999761581421}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1484515782","https://openalex.org/W1559393815","https://openalex.org/W1593430322","https://openalex.org/W1778214895","https://openalex.org/W1939926247","https://openalex.org/W1969958055","https://openalex.org/W1970948351","https://openalex.org/W1974986187","https://openalex.org/W1981745143","https://openalex.org/W1986000129","https://openalex.org/W2001165022","https://openalex.org/W2001897675","https://openalex.org/W2003701638","https://openalex.org/W2009317155","https://openalex.org/W2013995009","https://openalex.org/W2014863553","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2030515455","https://openalex.org/W2036484113","https://openalex.org/W2036607116","https://openalex.org/W2040657708","https://openalex.org/W2041459584","https://openalex.org/W2051287096","https://openalex.org/W2055576996","https://openalex.org/W2062940189","https://openalex.org/W2063866062","https://openalex.org/W2066004688","https://openalex.org/W2067572763","https://openalex.org/W2070773510","https://openalex.org/W2085746528","https://openalex.org/W2085978624","https://openalex.org/W2086587468","https://openalex.org/W2086756762","https://openalex.org/W2097384366","https://openalex.org/W2097800022","https://openalex.org/W2098787727","https://openalex.org/W2107063340","https://openalex.org/W2119348011","https://openalex.org/W2119793378","https://openalex.org/W2128131727","https://openalex.org/W2137547873","https://openalex.org/W2142992961","https://openalex.org/W2149332832","https://openalex.org/W2155357451","https://openalex.org/W2156018100","https://openalex.org/W2163668399","https://openalex.org/W2798909945","https://openalex.org/W2914508454","https://openalex.org/W3198330646","https://openalex.org/W4205985701","https://openalex.org/W4232776841","https://openalex.org/W4233512036","https://openalex.org/W4238307931","https://openalex.org/W4252510982","https://openalex.org/W6657490393","https://openalex.org/W6801189501"],"related_works":["https://openalex.org/W2744870258","https://openalex.org/W2363021795","https://openalex.org/W2417714018","https://openalex.org/W2589078217","https://openalex.org/W4317391030","https://openalex.org/W2333027882","https://openalex.org/W2029713280","https://openalex.org/W2017936727","https://openalex.org/W2102637731","https://openalex.org/W2141022958"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,114],"approach":[4,28,108],"for":[5],"the":[6,27,49,57,62,66,80,83,90,102,139,162,165],"closed-loop":[7],"control":[8,59,91],"of":[9,32,36,44,56,65,132,142,154,164],"a":[10,30,42,73,86,97,125,130],"fully":[11],"actuated":[12],"biped":[13,119,158],"robot":[14],"that":[15,93,153],"leverages":[16],"its":[17],"natural":[18,63],"dynamics":[19,64],"when":[20],"walking.":[21,172],"Rather":[22],"than":[23,69,152],"prescribing":[24],"kinematic":[25],"trajectories,":[26],"proposes":[29],"set":[31],"state-dependent":[33],"torques,":[34],"each":[35],"which":[37],"can":[38],"be":[39,149],"constructed":[40],"from":[41,89,129],"combination":[43],"low-gain":[45],"spring-damper":[46],"couples.":[47],"Accordingly,":[48],"limb":[50],"motion":[51],"is":[52,109,120,144,188],"determined":[53],"by":[54,72],"interaction":[55],"passive":[58],"elements":[60],"and":[61,146,180,194,198],"biped,":[67],"rather":[68],"being":[70],"dictated":[71],"reference":[74,99],"trajectory.":[75],"In":[76],"order":[77],"to":[78,101,122,124,148,157,168,192,201],"implement":[79],"proposed":[81,107,166],"approach,":[82],"authors":[84],"develop":[85],"model-based":[87],"transformation":[88],"torques":[92],"are":[94],"defined":[95],"in":[96,111,203],"mixed":[98],"frame":[100],"actuator":[103],"joint":[104],"torques.":[105],"The":[106,117],"implemented":[110],"simulation":[112],"on":[113,136,181],"anthropomorphic":[115],"biped.":[116],"simulated":[118],"shown":[121,147],"converge":[123],"stable,":[126],"natural-looking":[127],"walk":[128],"variety":[131],"initial":[133],"configurations.":[134],"Based":[135],"these":[137],"simulations,":[138],"mechanical":[140],"cost":[141],"transport":[143],"computed":[145],"significantly":[150],"lower":[151],"trajectory-tracking":[155],"approaches":[156],"control,":[159],"thus":[160],"validating":[161],"ability":[163],"idea":[167],"provide":[169],"efficient":[170],"dynamic":[171],"Simulations":[173],"further":[174],"demonstrate":[175],"walking":[176],"at":[177],"varying":[178,182],"speeds":[179],"ground":[183],"slopes.":[184],"Finally,":[185],"controller":[186],"robustness":[187],"demonstrated":[189],"with":[190,199],"respect":[191,200],"forward":[193],"backward":[195],"push-type":[196],"disturbances":[197],"uncertainty":[202],"model":[204],"parameters.":[205]},"counts_by_year":[{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
