{"id":"https://openalex.org/W1978102433","doi":"https://doi.org/10.1177/0278364914532150","title":"High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah","display_name":"High speed trot-running: Implementation of a hierarchical controller using proprioceptive impedance control on the MIT Cheetah","publication_year":2014,"publication_date":"2014-08-21","ids":{"openalex":"https://openalex.org/W1978102433","doi":"https://doi.org/10.1177/0278364914532150","mag":"1978102433"},"language":"en","primary_location":{"id":"doi:10.1177/0278364914532150","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914532150","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/1721.1/98270","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5036645679","display_name":"Dong Jin Hyun","orcid":"https://orcid.org/0000-0002-4599-8367"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dong Jin Hyun","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019972020","display_name":"Sangok Seok","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangok Seok","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004089240","display_name":"Jongwoo Lee","orcid":"https://orcid.org/0000-0002-3434-0121"},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jongwoo Lee","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210110987","display_name":"IIT@MIT","ror":"https://ror.org/01wp8zh54","country_code":"US","type":"facility","lineage":["https://openalex.org/I30771326","https://openalex.org/I4210110987"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, MIT, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, MIT, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210110987"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210110987"],"apc_list":null,"apc_paid":null,"fwci":11.1729,"has_fulltext":false,"cited_by_count":267,"citation_normalized_percentile":{"value":0.99059176,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"33","issue":"11","first_page":"1417","last_page":"1445"},"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":0.998199999332428,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9866999983787537,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6437068581581116},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6336759328842163},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5711710453033447},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5187166333198547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5111525654792786},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4923306703567505},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42860472202301025},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.41255858540534973},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33587461709976196},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17228972911834717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13651323318481445}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6437068581581116},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6336759328842163},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5711710453033447},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5187166333198547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5111525654792786},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4923306703567505},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42860472202301025},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.41255858540534973},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33587461709976196},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17228972911834717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13651323318481445},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364914532150","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364914532150","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/98270","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/98270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Kim via Angie Locknar","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/98270","is_oa":true,"landing_page_url":"http://hdl.handle.net/1721.1/98270","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Prof. Kim via Angie Locknar","raw_type":"Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":62,"referenced_works":["https://openalex.org/W253703761","https://openalex.org/W1487434675","https://openalex.org/W1626229989","https://openalex.org/W1963738487","https://openalex.org/W1967377907","https://openalex.org/W1968196344","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1975537977","https://openalex.org/W1977505238","https://openalex.org/W1978023077","https://openalex.org/W1979445726","https://openalex.org/W1980780059","https://openalex.org/W1983217982","https://openalex.org/W1985875375","https://openalex.org/W1988274707","https://openalex.org/W1996828753","https://openalex.org/W1997576152","https://openalex.org/W2000291657","https://openalex.org/W2005805981","https://openalex.org/W2008342119","https://openalex.org/W2010026582","https://openalex.org/W2024084391","https://openalex.org/W2041019458","https://openalex.org/W2054186704","https://openalex.org/W2060874116","https://openalex.org/W2071853141","https://openalex.org/W2072625467","https://openalex.org/W2073026493","https://openalex.org/W2079248108","https://openalex.org/W2085746528","https://openalex.org/W2094496385","https://openalex.org/W2108977369","https://openalex.org/W2109562924","https://openalex.org/W2116432529","https://openalex.org/W2119778835","https://openalex.org/W2120125013","https://openalex.org/W2126341869","https://openalex.org/W2129224530","https://openalex.org/W2135557503","https://openalex.org/W2141541198","https://openalex.org/W2141791321","https://openalex.org/W2144587497","https://openalex.org/W2145932718","https://openalex.org/W2152691590","https://openalex.org/W2154139861","https://openalex.org/W2156174987","https://openalex.org/W2156355884","https://openalex.org/W2159418100","https://openalex.org/W2163668399","https://openalex.org/W2164450398","https://openalex.org/W2165529265","https://openalex.org/W2165651849","https://openalex.org/W2169357327","https://openalex.org/W2169440744","https://openalex.org/W2170686920","https://openalex.org/W2184132226","https://openalex.org/W2295267092","https://openalex.org/W2539900473","https://openalex.org/W3000650229","https://openalex.org/W3148638382","https://openalex.org/W4205687208"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W2018658498","https://openalex.org/W2785665096"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"implementation":[3],"of":[4,24,31,43,81,155,180,220],"a":[5,11,49,99,110,115,140,150,157,166,170,174,209,258],"highly":[6],"dynamic":[7,211],"running":[8,23],"gait":[9,261],"with":[10,160,229],"hierarchical":[12],"controller":[13,20,130,225],"on":[14,126,216],"the":[15,44,74,78,95,105,129,185,188,206,217,221,230,239,254,263],"MIT":[16,45,222,240,255],"Cheetah.":[17,46,223],"The":[18,134,224],"developed":[19,207],"enables":[21],"high-speed":[22],"up":[25],"to":[26,69,88,104,232,238],"6":[27],"m/s":[28],"(Froude":[29],"number":[30],"Fr":[32],"\u2248":[33],"7.34)":[34],"incorporating":[35],"proprioceptive":[36,122,161,196],"feedback":[37],"and":[38,51,72,108,143,165,173,235,249],"programmable":[39,61,189],"virtual":[40,62,190],"leg":[41,63,145,162,191,202,247],"compliance":[42,64,192],"To":[47,204],"achieve":[48,233],"stable":[50,259],"fast":[52],"trot":[53],"gait,":[54],"we":[55],"applied":[56,237,250],"three":[57,127],"control":[58,135,198],"strategies:":[59],"(a)":[60],"that":[65,113],"provides":[66],"instantaneous":[67],"reflexes":[68],"external":[70],"disturbance":[71],"facilitates":[73],"self-stabilizing":[75],"shown":[76],"in":[77,94,98,184,199,242,262],"passive":[79],"dynamics":[80],"locomotion;":[82],"(b)":[83],"tunable":[84,175],"stance-trajectory":[85],"design,":[86],"intended":[87],"adjust":[89],"impulse":[90],"at":[91],"each":[92],"foot-end":[93],"stance":[96],"phase":[97],"high":[100],"speed":[101],"trot-running":[102,260],"according":[103],"equilibrium-point":[106],"hypothesis;":[107],"(c)":[109],"gait-pattern":[111,118,158],"modulation":[112],"imposes":[114],"desired":[116,144],"cyclic":[117],"taking":[119],"cues":[120],"from":[121],"TD":[123,163],"feedback.":[124],"Based":[125],"strategies,":[128],"is":[131,193,213],"hierarchically":[132],"structured.":[133],"parameters":[136,219,226],"for":[137],"forward":[138],"speeds,":[139],"specific":[141],"gait-pattern,":[142],"trajectories":[146],"are":[147,227],"managed":[148],"by":[149],"high-level":[151],"controller.":[152],"It":[153],"consists":[154],"both":[156],"modulator":[159],"detection":[164],"leg-trajectory":[167],"generator":[168],"using":[169,195],"B\u00e8zier":[171],"curve":[172],"amplitude":[176],"sinusoidal":[177],"wave.":[178],"Instead":[179],"employing":[181],"physical":[182],"spring/dampers":[183],"robot\u2019s":[186],"leg,":[187],"realized":[194],"impedance":[197],"individual":[200],"low-level":[201],"controllers.":[203],"verify":[205],"controller,":[208],"robot":[210],"simulator":[212,231],"constructed":[214],"based":[215],"model":[218],"tuned":[228],"self-stability,":[234],"then":[236],"Cheetah":[241,256],"an":[243],"experimental":[244],"environment.":[245],"Using":[246],"kinematics":[248],"motor":[251],"current":[252],"feedbacks,":[253],"achieved":[257],"sagittal":[264],"plane.":[265]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":23},{"year":2021,"cited_by_count":27},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":25},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":37},{"year":2016,"cited_by_count":15},{"year":2015,"cited_by_count":11},{"year":2014,"cited_by_count":5}],"updated_date":"2026-07-16T13:24:37.021932","created_date":"2025-10-10T00:00:00"}