{"id":"https://openalex.org/W2088429149","doi":"https://doi.org/10.1145/2728606.2728611","title":"First steps toward formal controller synthesis for bipedal robots","display_name":"First steps toward formal controller synthesis for bipedal robots","publication_year":2015,"publication_date":"2015-04-14","ids":{"openalex":"https://openalex.org/W2088429149","doi":"https://doi.org/10.1145/2728606.2728611","mag":"2088429149"},"language":"en","primary_location":{"id":"doi:10.1145/2728606.2728611","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1303812","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Texas A&amp;M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047674203","display_name":"Paulo Tabuada","orcid":"https://orcid.org/0000-0002-3417-0951"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paulo Tabuada","raw_affiliation_strings":["University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061752833","display_name":"Bastian Sch\u00fcrmann","orcid":"https://orcid.org/0000-0002-4760-5475"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bastian Sch\u00fcrmann","raw_affiliation_strings":["University of California, Los Angeles"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of California, Los Angeles","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101641007","display_name":"Wen-Loong Ma","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wen-Loong Ma","raw_affiliation_strings":["Texas A&amp;M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084523677","display_name":"Shishir Kolathaya","orcid":"https://orcid.org/0000-0001-8689-2318"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shishir Kolathaya","raw_affiliation_strings":["Texas A&amp;M University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Texas A&amp;M University","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020018687","display_name":"Matthias Rungger","orcid":"https://orcid.org/0000-0002-6623-4569"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Matthias Rungger","raw_affiliation_strings":["TU M\u00fcnchen"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"TU M\u00fcnchen","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","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jessy W. Grizzle","raw_affiliation_strings":["University of Michigan","(University of Michigan)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"(University of Michigan)","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4188,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.80729118,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"209","last_page":"218"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9936000108718872,"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"}},{"id":"https://openalex.org/T10142","display_name":"Formal Methods in Verification","score":0.9905999898910522,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.656891942024231},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6563249230384827},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6552709341049194},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6158861517906189},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6062262058258057},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5829051733016968},{"id":"https://openalex.org/keywords/abstraction","display_name":"Abstraction","score":0.5144312977790833},{"id":"https://openalex.org/keywords/hybrid-system","display_name":"Hybrid system","score":0.46698635816574097},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.41812440752983093},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4135877192020416},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2607859969139099},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2094290852546692},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1556967794895172},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12928801774978638}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.656891942024231},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6563249230384827},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6552709341049194},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6158861517906189},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6062262058258057},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5829051733016968},{"id":"https://openalex.org/C124304363","wikidata":"https://www.wikidata.org/wiki/Q673661","display_name":"Abstraction","level":2,"score":0.5144312977790833},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.46698635816574097},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.41812440752983093},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4135877192020416},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2607859969139099},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2094290852546692},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1556967794895172},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12928801774978638},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1145/2728606.2728611","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 18th International Conference on Hybrid Systems: Computation and Control","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:99908","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/99908/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1303812","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1303812","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1303812","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1303812","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.8199999928474426}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W1483893502","https://openalex.org/W1504362584","https://openalex.org/W1509235676","https://openalex.org/W1561445488","https://openalex.org/W1564897360","https://openalex.org/W1661920741","https://openalex.org/W1978347628","https://openalex.org/W1989901771","https://openalex.org/W1995433848","https://openalex.org/W2008151824","https://openalex.org/W2015042222","https://openalex.org/W2020883449","https://openalex.org/W2037635833","https://openalex.org/W2037729465","https://openalex.org/W2038557722","https://openalex.org/W2071797744","https://openalex.org/W2072286288","https://openalex.org/W2077245982","https://openalex.org/W2084209135","https://openalex.org/W2085746528","https://openalex.org/W2099308299","https://openalex.org/W2110214547","https://openalex.org/W2122116594","https://openalex.org/W2128131727","https://openalex.org/W2129231075","https://openalex.org/W2130980192","https://openalex.org/W2137547873","https://openalex.org/W2143717973","https://openalex.org/W2155658243","https://openalex.org/W2169289043","https://openalex.org/W2171879251","https://openalex.org/W2381269752","https://openalex.org/W3217246742","https://openalex.org/W4252959020","https://openalex.org/W6679157083"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W3097449145","https://openalex.org/W2045155990","https://openalex.org/W2561617217","https://openalex.org/W4313163053","https://openalex.org/W4300973204","https://openalex.org/W1977095816","https://openalex.org/W2088811509","https://openalex.org/W2130642229","https://openalex.org/W197679583"],"abstract_inverted_index":{"Bipedal":[0],"robots":[1,65],"are":[2,178],"prime":[3],"examples":[4],"of":[5,13,22,117,127,163,169],"complex":[6,174],"cyber-physical":[7],"systems":[8],"(CPS).":[9],"They":[10],"exhibit":[11],"many":[12],"the":[14,18,47,81,109,114,120,128,140,147,161,167,184,189,209],"features":[15],"that":[16,132,165,201],"make":[17],"design":[19,72,85],"and":[20,40,73,87,105,192],"verification":[21],"CPS":[23],"so":[24,66],"difficult:":[25],"hybrid":[26,110,129],"dynamics,":[27],"large":[28],"continuous":[29],"dynamics":[30,112,131],"in":[31],"each":[32],"mode":[33],"(e.g.,":[34],"10":[35],"or":[36],"more":[37],"state":[38,48],"variables),":[39],"nontrivial":[41],"specifications":[42,70,142,191],"involving":[43],"nonlinear":[44],"constraints":[45],"on":[46,100,146,208],"variables.":[49],"In":[50,80,119],"this":[51],"paper,":[52],"we":[53,84,123],"propose":[54],"a":[55,101,137,156,199],"two-step":[56],"approach":[57,154],"to":[58,68,93,135,143,159,173,198,204],"formally":[59],"synthesize":[60,136],"control":[61],"software":[62],"for":[63],"bipedal":[64,210],"as":[67],"enforce":[69],"by":[71,108],"thereby":[74],"generate":[75],"physically":[76],"realizable":[77],"stable":[78],"walking.":[79],"first":[82],"step,":[83,122],"outputs":[86,92],"classical":[88],"controllers":[89],"driving":[90],"these":[91],"zero.":[94],"The":[95],"resulting":[96],"controlled":[97],"system":[98],"evolves":[99],"lower":[102],"dimensional":[103],"manifold":[104],"is":[106,133,155],"described":[107],"zero":[111,130],"governing":[113],"remaining":[115],"degrees":[116],"freedom.":[118],"second":[121],"construct":[124],"an":[125],"abstraction":[126],"used":[134],"controller":[138,186,200],"enforcing":[139],"desired":[141,190],"be":[144],"satisfied":[145],"full":[148],"order":[149],"model.":[150],"Our":[151,176],"two":[152],"step":[153],"systematic":[157],"way":[158],"mitigate":[160],"curse":[162],"dimensionality":[164],"hampers":[166],"applicability":[168],"formal":[170],"synthesis":[171],"techniques":[172],"CPS.":[175],"results":[177],"illustrated":[179],"with":[180,196],"simulations":[181],"showing":[182],"how":[183],"synthesized":[185],"enforces":[187],"all":[188],"offers":[193],"improved":[194],"performance":[195],"respect":[197],"was":[202],"utilized":[203],"obtain":[205],"walking":[206],"experimentally":[207],"robot":[211],"AMBER":[212],"2.":[213]},"counts_by_year":[{"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":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
