{"id":"https://openalex.org/W3182479899","doi":"https://doi.org/10.1109/tro.2021.3088062","title":"Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM","display_name":"Toward Reactive Walking: Control of Biped Robots Exploiting an Event-Based FSM","publication_year":2021,"publication_date":"2021-07-01","ids":{"openalex":"https://openalex.org/W3182479899","doi":"https://doi.org/10.1109/tro.2021.3088062","mag":"3182479899"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2021.3088062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088062","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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/A5069100903","display_name":"Yisoo Lee","orcid":"https://orcid.org/0000-0001-8135-4094"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yisoo Lee","raw_affiliation_strings":["Center for Intelligent, and Interactive Robotics, Korea Institute of Science, and Technology, Seoul, South Korea","Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-8135-4094","affiliations":[{"raw_affiliation_string":"Center for Intelligent, and Interactive Robotics, Korea Institute of Science, and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]},{"raw_affiliation_string":"Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101896810","display_name":"Hosang Lee","orcid":"https://orcid.org/0000-0002-1969-2401"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hosang Lee","raw_affiliation_strings":["Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I118373667"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017250304","display_name":"Jinoh Lee","orcid":"https://orcid.org/0000-0002-4901-7095"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jinoh Lee","raw_affiliation_strings":["Institute of Robotics, and Mechatronics, German Aerospace Center (DLR), Weßling, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4901-7095","affiliations":[{"raw_affiliation_string":"Institute of Robotics, and Mechatronics, German Aerospace Center (DLR), Weßling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031070386","display_name":"Jaeheung Park","orcid":"https://orcid.org/0000-0002-5062-8264"},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I4210120602","display_name":"Advanced Institute of Convergence Technology","ror":"https://ror.org/01w62yz22","country_code":"KR","type":"facility","lineage":["https://openalex.org/I139264467","https://openalex.org/I4210120602"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jaeheung Park","raw_affiliation_strings":["Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea","Advanced Institutes of Convergence Technology, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-5062-8264","affiliations":[{"raw_affiliation_string":"Graduate School of Convergence Science, and Technology, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I118373667"]},{"raw_affiliation_string":"Advanced Institutes of Convergence Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I4210120602"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2411,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.76904051,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"38","issue":"2","first_page":"683","last_page":"698"},"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":0.9898999929428101,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9613999724388123,"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/control-theory","display_name":"Control theory (sociology)","score":0.7320380806922913},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6592423319816589},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.5968017578125},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.581553041934967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5568479299545288},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.5522143244743347},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4991917610168457},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4795110523700714},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.367209792137146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3316173553466797},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29659974575042725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24687117338180542},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18350058794021606},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.1468813419342041},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08269017934799194}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7320380806922913},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6592423319816589},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.5968017578125},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.581553041934967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568479299545288},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.5522143244743347},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4991917610168457},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4795110523700714},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.367209792137146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3316173553466797},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29659974575042725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24687117338180542},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18350058794021606},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.1468813419342041},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08269017934799194},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tro.2021.3088062","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2021.3088062","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","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"},{"id":"pmh:oai:elib.dlr.de:143985","is_oa":false,"landing_page_url":"https://doi.org/10.1109/TRO.2021.3088062>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Zeitschriftenbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.4699999988079071,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G2141362931","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320320671","funder_display_name":"National Research Foundation"},{"id":"https://openalex.org/G2987133428","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320328359","funder_display_name":"Ministry of Science and ICT, South Korea"},{"id":"https://openalex.org/G4850456717","display_name":null,"funder_award_id":"2E31063","funder_id":"https://openalex.org/F4320322091","funder_display_name":"Korea Institute of Science and Technology"},{"id":"https://openalex.org/G7476740348","display_name":null,"funder_award_id":"2021R1A2C3005914","funder_id":"https://openalex.org/F4320312071","funder_display_name":"Ministry of Education, Libya"},{"id":"https://openalex.org/G8071801186","display_name":null,"funder_award_id":"2019R1A6A3A03033473","funder_id":"https://openalex.org/F4320312071","funder_display_name":"Ministry of Education, Libya"}],"funders":[{"id":"https://openalex.org/F4320312071","display_name":"Ministry of Education, Libya","ror":"https://ror.org/02w030k33"},{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320322091","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1945123189","https://openalex.org/W1964965610","https://openalex.org/W1967365365","https://openalex.org/W1982337725","https://openalex.org/W1994275787","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2056223738","https://openalex.org/W2057797048","https://openalex.org/W2060826135","https://openalex.org/W2061350632","https://openalex.org/W2074042377","https://openalex.org/W2074473514","https://openalex.org/W2079995373","https://openalex.org/W2086009575","https://openalex.org/W2086587468","https://openalex.org/W2095192936","https://openalex.org/W2119088038","https://openalex.org/W2127763473","https://openalex.org/W2128131727","https://openalex.org/W2132089714","https://openalex.org/W2133391116","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2144351850","https://openalex.org/W2149407815","https://openalex.org/W2162109810","https://openalex.org/W2163408698","https://openalex.org/W2164833077","https://openalex.org/W2413990562","https://openalex.org/W2415959992","https://openalex.org/W2539534359","https://openalex.org/W2573784347","https://openalex.org/W2892005933","https://openalex.org/W3011337332","https://openalex.org/W3020839343","https://openalex.org/W4205985701","https://openalex.org/W4249010688"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W34871393","https://openalex.org/W3168108534","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W4229574949","https://openalex.org/W2368813785","https://openalex.org/W842509023","https://openalex.org/W2112389631","https://openalex.org/W4300463555"],"abstract_inverted_index":{"Reactivity":[0,75],"to":[1,14,33,42,52,54,61,136,151,160,184],"unforeseen":[2],"disturbances":[3,182],"is":[4,40,76,166],"one":[5],"of":[6,47,84,110],"the":[7,18,45,48,55,80,85,93,99,101,108,113,121,138,143,185],"most":[8],"crucial":[9],"characteristics":[10],"for":[11,29,71],"biped":[12,174],"robots":[13],"walk":[15,104],"robustly":[16,105],"in":[17,36,98],"real":[19],"world.":[20],"Nevertheless,":[21],"conventional":[22],"walking":[23,72,139],"methods":[24,38],"generally":[25],"have":[26],"limited":[27],"capability":[28],"generating":[30],"rapid":[31],"reactions":[32],"disturbances,":[34],"because":[35],"these":[37],"it":[39,177],"necessary":[41],"wait":[43],"until":[44],"end":[46],"preplanned":[49],"time":[50],"period":[51],"proceed":[53],"next":[56],"phase.":[57],"In":[58],"this":[59],"study,":[60],"improve":[62],"reactivity,":[63],"we":[64,134],"develop":[65],"an":[66,146],"event-based":[67],"finite-state":[68],"machine":[69],"(E-FSM)":[70],"pattern":[73],"generation.":[74],"enhanced":[77],"by":[78,119,141,168],"determining":[79],"state":[81],"transition":[82],"conditions":[83],"E-FSM":[86,144],"only":[87],"with":[88,126,145],"time-independent":[89],"events":[90],"based":[91],"on":[92,170],"present":[94],"robot":[95,102,140,175],"state.":[96],"Moreover,":[97],"E-FSM,":[100],"can":[103,156],"even":[106],"when":[107],"center":[109],"mass":[111],"and":[112],"swing":[114,129,189],"foot":[115,130],"motion":[116],"are":[117],"disturbed,":[118],"employing":[120],"capture":[122],"point":[123],"concept":[124],"combined":[125],"a":[127,171],"new":[128],"position":[131],"constraint.":[132],"Finally,":[133],"propose":[135],"control":[137],"incorporating":[142],"inverse":[147],"dynamics-based":[148],"motion/force":[149],"controller":[150],"achieve":[152],"compliant":[153],"behavior.":[154],"This":[155],"provide":[157],"safe":[158],"responses":[159],"external":[161,181],"disturbances.":[162],"The":[163],"developed":[164],"method":[165],"verified":[167],"experiments":[169],"12-degrees-of-freedom":[172],"torque-controlled":[173],"while":[176],"locomotes":[178],"under":[179],"irregular":[180],"applied":[183],"upper":[186],"body":[187],"or":[188],"leg.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}