{"id":"https://openalex.org/W1986591575","doi":"https://doi.org/10.1145/2728606.2728645","title":"Hybrid multi-contact dynamics for wedge jumping locomotion behaviors","display_name":"Hybrid multi-contact dynamics for wedge jumping locomotion behaviors","publication_year":2015,"publication_date":"2015-04-14","ids":{"openalex":"https://openalex.org/W1986591575","doi":"https://doi.org/10.1145/2728606.2728645","mag":"1986591575"},"language":"en","primary_location":{"id":"doi:10.1145/2728606.2728645","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728645","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":"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/A5023643969","display_name":"Ye Zhao","orcid":"https://orcid.org/0000-0001-6402-5416"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ye Zhao","raw_affiliation_strings":["The University of Texas at Austin, Austin, Texas","The University of Texas at AustinAustin, Texas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas at AustinAustin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009026972","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0001-9534-5383"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["The University of Texas at Austin, Austin, Texas","The University of Texas at AustinAustin, Texas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas at AustinAustin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003716751","display_name":"Gray C. Thomas","orcid":"https://orcid.org/0000-0003-4466-3466"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gray Thomas","raw_affiliation_strings":["The University of Texas at Austin, Austin, Texas","The University of Texas at AustinAustin, Texas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas at AustinAustin, Texas","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111757263","display_name":"Luis Sentis","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["The University of Texas at Austin, Austin, Texas","The University of Texas at AustinAustin, Texas"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Texas at Austin, Austin, Texas","institution_ids":["https://openalex.org/I86519309"]},{"raw_affiliation_string":"The University of Texas at AustinAustin, Texas","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.5992,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.6306102,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"293","last_page":"294"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9943000078201294,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9926999807357788,"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/contact-dynamics","display_name":"Contact dynamics","score":0.7173451781272888},{"id":"https://openalex.org/keywords/wedge","display_name":"Wedge (geometry)","score":0.6716135740280151},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6469212770462036},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6410906314849854},{"id":"https://openalex.org/keywords/aperiodic-graph","display_name":"Aperiodic graph","score":0.6408489942550659},{"id":"https://openalex.org/keywords/hybrid-automaton","display_name":"Hybrid automaton","score":0.5821959972381592},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5729554295539856},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5418655872344971},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.5210344791412354},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5017397403717041},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4644275903701782},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.4616813063621521},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.4284956455230713},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.42075949907302856},{"id":"https://openalex.org/keywords/automaton","display_name":"Automaton","score":0.4195815324783325},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2532121539115906},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2386874258518219},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22689300775527954},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2244308590888977},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21393811702728271},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.15664136409759521},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15168806910514832},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14005938172340393},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.13098591566085815}],"concepts":[{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.7173451781272888},{"id":"https://openalex.org/C47422493","wikidata":"https://www.wikidata.org/wiki/Q2755127","display_name":"Wedge (geometry)","level":2,"score":0.6716135740280151},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6469212770462036},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6410906314849854},{"id":"https://openalex.org/C104247578","wikidata":"https://www.wikidata.org/wiki/Q4779368","display_name":"Aperiodic graph","level":2,"score":0.6408489942550659},{"id":"https://openalex.org/C2776028153","wikidata":"https://www.wikidata.org/wiki/Q5953179","display_name":"Hybrid automaton","level":3,"score":0.5821959972381592},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5729554295539856},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5418655872344971},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.5210344791412354},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5017397403717041},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4644275903701782},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.4616813063621521},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.4284956455230713},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.42075949907302856},{"id":"https://openalex.org/C112505250","wikidata":"https://www.wikidata.org/wiki/Q787116","display_name":"Automaton","level":2,"score":0.4195815324783325},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2532121539115906},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2386874258518219},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22689300775527954},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2244308590888977},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21393811702728271},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.15664136409759521},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15168806910514832},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14005938172340393},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.13098591566085815},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2728606.2728645","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2728606.2728645","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7300000190734863,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4627368294","display_name":null,"funder_award_id":"OPS201103671-001","funder_id":"https://openalex.org/F4320338298","funder_display_name":"Office of Naval Research Global"}],"funders":[{"id":"https://openalex.org/F4320338298","display_name":"Office of Naval Research Global","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1940417524","https://openalex.org/W2026498687","https://openalex.org/W2110512546","https://openalex.org/W2381269752"],"related_works":["https://openalex.org/W2037661079","https://openalex.org/W2339191433","https://openalex.org/W4287817191","https://openalex.org/W4298800952","https://openalex.org/W2039582600","https://openalex.org/W1992569127","https://openalex.org/W172284633","https://openalex.org/W1997180817","https://openalex.org/W1986591575","https://openalex.org/W2092849941"],"abstract_inverted_index":{"Legged":[0],"robots":[1],"naturally":[2],"exhibit":[3],"continuous":[4],"and":[5,12,71,80,106],"discrete":[6],"dynamics":[7],"when":[8],"maneuvering":[9],"over":[10],"level-ground":[11],"uneven":[13],"terrains.":[14],"In":[15,48],"recent":[16],"years,":[17],"numerous":[18],"studies":[19],"have":[20],"focused":[21],"on":[22,28,54,83],"locomotion":[23,27],"hybrid":[24,46,57],"dynamics.":[25,47],"However,":[26],"more":[29],"challenging":[30],"terrains":[31],"such":[32],"as":[33],"split":[34],"wedges":[35],"in":[36],"Figure":[37],"1":[38],"has":[39],"rarely":[40],"been":[41],"explored,":[42],"let":[43],"alone":[44],"its":[45],"this":[49,61,84],"study,":[50],"we":[51],"specifically":[52],"focus":[53],"a":[55],"two-phase":[56],"automaton":[58,67],"formulation":[59],"for":[60,93],"highly":[62],"steep":[63],"wedge":[64],"locomotion.":[65],"This":[66],"incorporates":[68],"both":[69],"multi-contact":[70],"flight":[72],"single":[73],"contact":[74],"phase":[75,88],"motions.":[76],"To":[77],"dynamically":[78],"balance":[79],"jump":[81],"upwards":[82],"wedge,":[85],"an":[86],"aperiodic":[87],"space":[89],"planning":[90],"is":[91],"used":[92],"trajectory":[94],"generations.":[95],"Three":[96],"control":[97],"strategies":[98],"are":[99,113],"employed":[100],"simultaneously:":[101],"internal":[102],"force":[103],"control,":[104],"linear":[105],"angular":[107],"momentum":[108],"control.":[109],"Finally,":[110],"simulation":[111],"results":[112],"shown":[114],"to":[115],"verify":[116],"our":[117],"strategy's":[118],"effectiveness.":[119]},"counts_by_year":[{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}