{"id":"https://openalex.org/W2861559353","doi":"https://doi.org/10.1177/0278364918779874","title":"Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting","display_name":"Vertical hopper compositions for preflexive and feedback-stabilized quadrupedal bounding, pacing, pronking, and trotting","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2861559353","doi":"https://doi.org/10.1177/0278364918779874","mag":"2861559353"},"language":"en","primary_location":{"id":"doi:10.1177/0278364918779874","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918779874","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":"https://repository.upenn.edu/bitstreams/37c662b7-6d92-44c4-b26f-23f1e344032a/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031870822","display_name":"Avik De","orcid":"https://orcid.org/0000-0002-2156-3705"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Avik De","raw_affiliation_strings":["Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":["Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5031870822"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":4.1229,"has_fulltext":true,"cited_by_count":63,"citation_normalized_percentile":{"value":0.94595777,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"37","issue":"7","first_page":"743","last_page":"778"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9876000285148621,"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":0.6823056936264038},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.6630775332450867},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6181273460388184},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5925549268722534},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5716279149055481},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5520864725112915},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.5456968545913696},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.540086567401886},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5208159685134888},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.518256425857544},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5090662837028503},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.45840364694595337},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.42289048433303833},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3276548683643341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17096683382987976},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17003747820854187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15774092078208923},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.15667709708213806},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1293879747390747},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11522835493087769}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6823056936264038},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6630775332450867},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6181273460388184},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5925549268722534},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5716279149055481},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5520864725112915},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.5456968545913696},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.540086567401886},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5208159685134888},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.518256425857544},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5090662837028503},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.45840364694595337},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.42289048433303833},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3276548683643341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17096683382987976},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17003747820854187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15774092078208923},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.15667709708213806},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1293879747390747},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11522835493087769},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1177/0278364918779874","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364918779874","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:repository.upenn.edu:20.500.14332/34077","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/34077","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"37","raw_type":"Article"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1898","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/832","pdf_url":"https://repository.upenn.edu/bitstreams/37c662b7-6d92-44c4-b26f-23f1e344032a/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1898","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/832","pdf_url":"https://repository.upenn.edu/bitstreams/37c662b7-6d92-44c4-b26f-23f1e344032a/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7699999809265137}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2861559353.pdf","grobid_xml":"https://content.openalex.org/works/W2861559353.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W102545820","https://openalex.org/W770742390","https://openalex.org/W1496651197","https://openalex.org/W1527751191","https://openalex.org/W1543608798","https://openalex.org/W1545926767","https://openalex.org/W1969366849","https://openalex.org/W1973546417","https://openalex.org/W1985093141","https://openalex.org/W2000291657","https://openalex.org/W2005295908","https://openalex.org/W2021495069","https://openalex.org/W2057408433","https://openalex.org/W2066498158","https://openalex.org/W2077676902","https://openalex.org/W2085733653","https://openalex.org/W2089876099","https://openalex.org/W2094444216","https://openalex.org/W2094496385","https://openalex.org/W2115693880","https://openalex.org/W2119703020","https://openalex.org/W2120548794","https://openalex.org/W2129224530","https://openalex.org/W2138557224","https://openalex.org/W2141519971","https://openalex.org/W2141791321","https://openalex.org/W2156355884","https://openalex.org/W2161427949","https://openalex.org/W2165689962","https://openalex.org/W2268439174","https://openalex.org/W2278830304","https://openalex.org/W2295130897","https://openalex.org/W2564844339","https://openalex.org/W2593412525","https://openalex.org/W2793122067","https://openalex.org/W3097995488","https://openalex.org/W3099935670","https://openalex.org/W4233867229"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W2008498579","https://openalex.org/W2923272690","https://openalex.org/W2559825912","https://openalex.org/W2064963663","https://openalex.org/W1966935220","https://openalex.org/W1992956164","https://openalex.org/W2775028049","https://openalex.org/W2087283056","https://openalex.org/W2003106919"],"abstract_inverted_index":{"This":[0],"paper":[1],"applies":[2],"an":[3,57],"extension":[4],"of":[5,22,36,41,54,60,94,101,159],"classical":[6],"averaging":[7],"methods":[8],"to":[9,46,83,135,145],"hybrid":[10],"dynamical":[11],"systems,":[12],"thereby":[13],"achieving":[14],"formally":[15],"specified,":[16],"physically":[17],"effective":[18],"and":[19,129,150,171],"robust":[20],"instances":[21],"all":[23],"virtual":[24],"bipedal":[25],"gaits":[26,79],"on":[27],"a":[28,37,51,91,157],"quadrupedal":[29],"robot.":[30,86],"Gait":[31],"specification":[32],"takes":[33],"the":[34,68,77,84,99,102,126,138,146,165,168],"form":[35],"three":[38],"parameter":[39],"family":[40],"coupling":[42,74],"rules":[43,75],"mathematically":[44],"shown":[45,133],"stabilize":[47],"limit":[48],"cycles":[49],"in":[50],"low":[52],"degree":[53],"freedom":[55],"template:":[56],"abstracted":[58],"pair":[59],"vertical":[61],"hoppers":[62],"whose":[63],"relative":[64],"phase":[65,108],"locking":[66],"encodes":[67],"desired":[69,78],"physical":[70,85,139,153],"leg":[71],"patterns.":[72],"These":[73],"produce":[76],"when":[80],"appropriately":[81],"applied":[82],"The":[87],"formal":[88],"analysis":[89,149],"reveals":[90],"distinct":[92],"set":[93],"morphological":[95],"regimes":[96,131],"determined":[97],"by":[98,125],"distribution":[100],"body\u2019s":[103],"inertia":[104],"within":[105],"which":[106],"particular":[107],"relationships":[109],"are":[110,132],"naturally":[111],"locked":[112],"with":[113],"no":[114],"need":[115],"for":[116],"feedback":[117],"stabilization":[118],"(or,":[119],"if":[120],"undesired,":[121],"must":[122],"be":[123],"countermanded":[124],"appropriate":[127],"feedback),":[128],"these":[130],"empirically":[134],"analogously":[136],"govern":[137],"machine":[140],"as":[141],"well.":[142],"In":[143],"addition":[144],"mathematical":[147],"stability":[148],"data":[151],"from":[152],"experiments":[154],"we":[155],"summarize":[156],"number":[158],"extensive":[160],"numerical":[161],"studies":[162],"that":[163],"explore":[164],"relationship":[166],"between":[167],"simple":[169],"template":[170],"its":[172],"more":[173],"complicated":[174],"anchoring":[175],"body":[176],"models.":[177]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2}],"updated_date":"2026-05-21T09:19:25.381259","created_date":"2025-10-10T00:00:00"}
