{"id":"https://openalex.org/W3092868972","doi":"https://doi.org/10.1146/annurev-control-071020-045021","title":"Dynamic Walking: Toward Agile and Efficient Bipedal Robots","display_name":"Dynamic Walking: Toward Agile and Efficient Bipedal Robots","publication_year":2020,"publication_date":"2020-12-11","ids":{"openalex":"https://openalex.org/W3092868972","doi":"https://doi.org/10.1146/annurev-control-071020-045021","mag":"3092868972"},"language":"en","primary_location":{"id":"doi:10.1146/annurev-control-071020-045021","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-071020-045021","pdf_url":"https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-071020-045021","source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"bronze","oa_url":"https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-071020-045021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080901578","display_name":"Jenna Reher","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jenna Reher","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA;,","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, California 91125, USA;,","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Control and Dynamical Systems Graduate Program, California Institute of Technology, Pasadena, California 91125, USA","#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#"],"affiliations":[{"raw_affiliation_string":"Control and Dynamical Systems Graduate Program, California Institute of Technology, Pasadena, California 91125, USA","institution_ids":["https://openalex.org/I122411786"]},{"raw_affiliation_string":"#N##TAB##TAB##TAB##TAB# California Institute of Technology#N##TAB##TAB##TAB#","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5080901578"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1091333,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"4","issue":"1","first_page":"535","last_page":"572"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9814000129699707,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.968500018119812,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/merge","display_name":"Merge (version control)","score":0.7182687520980835},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.6957170963287354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6474438905715942},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6395940184593201},{"id":"https://openalex.org/keywords/encode","display_name":"ENCODE","score":0.6038674712181091},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5314767956733704},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.48338475823402405},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4789500832557678},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4705398678779602},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.43249964714050293},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34339162707328796},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3299109935760498},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19074848294258118}],"concepts":[{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.7182687520980835},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.6957170963287354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6474438905715942},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6395940184593201},{"id":"https://openalex.org/C66746571","wikidata":"https://www.wikidata.org/wiki/Q1134833","display_name":"ENCODE","level":3,"score":0.6038674712181091},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5314767956733704},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48338475823402405},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4789500832557678},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4705398678779602},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.43249964714050293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34339162707328796},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3299109935760498},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19074848294258118},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1146/annurev-control-071020-045021","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-071020-045021","pdf_url":"https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-071020-045021","source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2010.07451","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2010.07451","pdf_url":"https://arxiv.org/pdf/2010.07451","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3092868972","is_oa":true,"landing_page_url":"http://arxiv.org/pdf/2010.07451.pdf","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"pmh:oai:authors.library.caltech.edu:106566","is_oa":false,"landing_page_url":"https://resolver.caltech.edu/CaltechAUTHORS:20201109-155514089","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":"Report or Paper"},{"id":"doi:10.48550/arxiv.2010.07451","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2010.07451","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.1146/annurev-control-071020-045021","is_oa":true,"landing_page_url":"https://doi.org/10.1146/annurev-control-071020-045021","pdf_url":"https://www.annualreviews.org/doi/pdf/10.1146/annurev-control-071020-045021","source":{"id":"https://openalex.org/S4210191328","display_name":"Annual Review of Control Robotics and Autonomous Systems","issn_l":"2573-5144","issn":["2573-5144"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320373","host_organization_name":"Annual Reviews","host_organization_lineage":["https://openalex.org/P4310320373"],"host_organization_lineage_names":["Annual Reviews"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual Review of Control, Robotics, and Autonomous Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1136932499","display_name":null,"funder_award_id":"CPS-1544857","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5055420547","display_name":null,"funder_award_id":"CNS-1136104","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5600390629","display_name":null,"funder_award_id":"1136104","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G6169943403","display_name":null,"funder_award_id":"1239055","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7919829247","display_name":null,"funder_award_id":"0953823","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8312075400","display_name":null,"funder_award_id":"NRI-1526519","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G848032724","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8826952997","display_name":"NRI: Collaborative Research: Unified Feedback Control and Mechanical Design for Robotic, Prosthetic, and Exoskeleton Locomotion","funder_award_id":"1526519","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3092868972.pdf","grobid_xml":"https://content.openalex.org/works/W3092868972.grobid-xml"},"referenced_works_count":176,"referenced_works":["https://openalex.org/W146798655","https://openalex.org/W187917816","https://openalex.org/W579997821","https://openalex.org/W1431688706","https://openalex.org/W1492794416","https://openalex.org/W1499277207","https://openalex.org/W1504362584","https://openalex.org/W1504627918","https://openalex.org/W1534166328","https://openalex.org/W1547649699","https://openalex.org/W1554436968","https://openalex.org/W1561445488","https://openalex.org/W1608101987","https://openalex.org/W1639534865","https://openalex.org/W1820821744","https://openalex.org/W1853143499","https://openalex.org/W1874861438","https://openalex.org/W1917860510","https://openalex.org/W1944242754","https://openalex.org/W1945123189","https://openalex.org/W1949183026","https://openalex.org/W1951089663","https://openalex.org/W1964173271","https://openalex.org/W1968601353","https://openalex.org/W1969168411","https://openalex.org/W1977443707","https://openalex.org/W1983542939","https://openalex.org/W1984331895","https://openalex.org/W1986000129","https://openalex.org/W1986164962","https://openalex.org/W1994275787","https://openalex.org/W1996763811","https://openalex.org/W2000291657","https://openalex.org/W2001757193","https://openalex.org/W2001760752","https://openalex.org/W2004117707","https://openalex.org/W2004162992","https://openalex.org/W2005080926","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2011872941","https://openalex.org/W2016582414","https://openalex.org/W2022971533","https://openalex.org/W2026616272","https://openalex.org/W2027493169","https://openalex.org/W2029015512","https://openalex.org/W2029058516","https://openalex.org/W2030515455","https://openalex.org/W2036484113","https://openalex.org/W2037729465","https://openalex.org/W2047174209","https://openalex.org/W2060333238","https://openalex.org/W2061063863","https://openalex.org/W2061350632","https://openalex.org/W2061983716","https://openalex.org/W2062127963","https://openalex.org/W2062940189","https://openalex.org/W2065426504","https://openalex.org/W2072286288","https://openalex.org/W2074154222","https://openalex.org/W2074686910","https://openalex.org/W2078908663","https://openalex.org/W2079407617","https://openalex.org/W2079769047","https://openalex.org/W2079995373","https://openalex.org/W2085746528","https://openalex.org/W2086587468","https://openalex.org/W2092535029","https://openalex.org/W2097800022","https://openalex.org/W2098484883","https://openalex.org/W2099129715","https://openalex.org/W2099473122","https://openalex.org/W2100894988","https://openalex.org/W2101340954","https://openalex.org/W2104479525","https://openalex.org/W2105676390","https://openalex.org/W2107149337","https://openalex.org/W2108890480","https://openalex.org/W2109008048","https://openalex.org/W2111966261","https://openalex.org/W2112361218","https://openalex.org/W2112474089","https://openalex.org/W2112640448","https://openalex.org/W2114145903","https://openalex.org/W2118320757","https://openalex.org/W2119105564","https://openalex.org/W2119348011","https://openalex.org/W2122116594","https://openalex.org/W2123477693","https://openalex.org/W2125098583","https://openalex.org/W2125126490","https://openalex.org/W2126284677","https://openalex.org/W2126729486","https://openalex.org/W2127763473","https://openalex.org/W2127800256","https://openalex.org/W2128131727","https://openalex.org/W2128198426","https://openalex.org/W2128284518","https://openalex.org/W2129754669","https://openalex.org/W2130980192","https://openalex.org/W2133859362","https://openalex.org/W2135383324","https://openalex.org/W2137547873","https://openalex.org/W2138671676","https://openalex.org/W2140202673","https://openalex.org/W2143717973","https://openalex.org/W2144351850","https://openalex.org/W2145944877","https://openalex.org/W2146227737","https://openalex.org/W2147285788","https://openalex.org/W2150317946","https://openalex.org/W2153190828","https://openalex.org/W2155658243","https://openalex.org/W2157055752","https://openalex.org/W2157924809","https://openalex.org/W2158002784","https://openalex.org/W2158866377","https://openalex.org/W2159593326","https://openalex.org/W2160649180","https://openalex.org/W2161427949","https://openalex.org/W2161643831","https://openalex.org/W2162109810","https://openalex.org/W2162495121","https://openalex.org/W2163668399","https://openalex.org/W2166588043","https://openalex.org/W2171879251","https://openalex.org/W2236379170","https://openalex.org/W2239166089","https://openalex.org/W2288633656","https://openalex.org/W2312248419","https://openalex.org/W2331734107","https://openalex.org/W2335044248","https://openalex.org/W2337224132","https://openalex.org/W2340207538","https://openalex.org/W2409421274","https://openalex.org/W2413365548","https://openalex.org/W2413990562","https://openalex.org/W2465284394","https://openalex.org/W2503857705","https://openalex.org/W2523146987","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W2540393540","https://openalex.org/W2542056373","https://openalex.org/W2542370644","https://openalex.org/W2544376062","https://openalex.org/W2560504659","https://openalex.org/W2567810712","https://openalex.org/W2569491452","https://openalex.org/W2569839618","https://openalex.org/W2588566816","https://openalex.org/W2607187241","https://openalex.org/W2737196964","https://openalex.org/W2737825825","https://openalex.org/W2761515094","https://openalex.org/W2774367037","https://openalex.org/W2792099719","https://openalex.org/W2806858658","https://openalex.org/W2883488766","https://openalex.org/W2889938945","https://openalex.org/W2894318605","https://openalex.org/W2912237277","https://openalex.org/W2963212932","https://openalex.org/W2967211956","https://openalex.org/W2968774764","https://openalex.org/W2972798201","https://openalex.org/W2980070341","https://openalex.org/W2980626718","https://openalex.org/W3021971131","https://openalex.org/W3024855617","https://openalex.org/W3046018808","https://openalex.org/W3090059844","https://openalex.org/W3098925401","https://openalex.org/W3160954918","https://openalex.org/W3217246742","https://openalex.org/W4249010688"],"related_works":["https://openalex.org/W2325212882","https://openalex.org/W2068387979","https://openalex.org/W2738904081","https://openalex.org/W3091241167","https://openalex.org/W2989936084","https://openalex.org/W2546727071","https://openalex.org/W2088412614","https://openalex.org/W3151226248","https://openalex.org/W106680425","https://openalex.org/W3200065118","https://openalex.org/W2888185177","https://openalex.org/W1569855242","https://openalex.org/W2003339652","https://openalex.org/W1953555795","https://openalex.org/W2502984779","https://openalex.org/W2049377006","https://openalex.org/W3154791684","https://openalex.org/W2148905073","https://openalex.org/W3184622689","https://openalex.org/W2315844926"],"abstract_inverted_index":{"Dynamic":[0],"walking":[1,72,90,133,152,163],"on":[2,73,150,164],"bipedal":[3,74,165],"robots":[4,166],"has":[5],"evolved":[6],"from":[7,84],"an":[8],"idea":[9],"in":[10,23,49,66,126,145],"science":[11],"fiction":[12],"to":[13,20,35,92,137,156,160],"a":[14,27],"practical":[15],"reality.":[16],"This":[17],"is":[18,168],"due":[19],"continued":[21],"progress":[22],"three":[24],"key":[25],"areas:":[26],"mathematical":[28,80],"understanding":[29,48],"of":[30,45,60,82,129],"locomotion,":[31,83],"the":[32,42,57,67,98,110,127,158],"computational":[33],"ability":[34,159],"encode":[36,97],"this":[37,47,52,54],"mathematics":[38],"through":[39],"optimization,":[40],"and":[41,121,147,171],"hardware":[43],"capable":[44],"realizing":[46],"practice.":[50],"In":[51],"context,":[53],"review":[55],"outlines":[56],"end-to-end":[58],"process":[59],"methods":[61],"that":[62,87,96,167],"have":[63],"proven":[64],"effective":[65],"literature":[68],"for":[69,112],"achieving":[70],"dynamic":[71,162],"robots.":[75],"We":[76],"begin":[77],"by":[78],"introducing":[79],"models":[81,86,108,120],"reduced-order":[85],"capture":[88],"essential":[89],"behaviors":[91,134],"hybrid":[93],"dynamical":[94],"systems":[95],"full-order":[99],"continuous":[100],"dynamics":[101],"along":[102],"with":[103],"discrete":[104],"foot-strike":[105],"dynamics.":[106],"These":[107],"form":[109],"basis":[111],"gait":[113],"generation":[114],"via":[115],"(nonlinear)":[116],"optimization":[117],"problems.":[118],"Finally,":[119],"their":[122],"generated":[123],"gaits":[124],"merge":[125],"context":[128],"real-time":[130],"control,":[131],"wherein":[132],"are":[135,142,154],"translated":[136],"hardware.":[138],"The":[139],"concepts":[140],"presented":[141],"illustrated":[143],"throughout":[144],"simulation,":[146],"experimental":[148],"instantiations":[149],"multiple":[151],"platforms":[153],"highlighted":[155],"demonstrate":[157],"realize":[161],"both":[169],"agile":[170],"efficient.":[172]},"counts_by_year":[],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
