{"id":"https://openalex.org/W2914653242","doi":"https://doi.org/10.1177/0278364920918014","title":"Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control","display_name":"Dynamic locomotion for passive-ankle biped robots and humanoids using whole-body locomotion control","publication_year":2020,"publication_date":"2020-06-10","ids":{"openalex":"https://openalex.org/W2914653242","doi":"https://doi.org/10.1177/0278364920918014","mag":"2914653242"},"language":"en","primary_location":{"id":"doi:10.1177/0278364920918014","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364920918014","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1901.08100","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009026972","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0001-9534-5383"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0001-9534-5383","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022756823","display_name":"Steven Jens Jorgensen","orcid":"https://orcid.org/0000-0003-1305-8714"},"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":"Steven Jens Jorgensen","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-1305-8714","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100329288","display_name":"Jaemin Lee","orcid":"https://orcid.org/0000-0002-0224-7141"},"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":"Jaemin Lee","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050714612","display_name":"Junhyeok Ahn","orcid":"https://orcid.org/0000-0002-7934-6543"},"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":"Junhyeok Ahn","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088391062","display_name":"Jianwen Luo","orcid":"https://orcid.org/0000-0002-1594-3867"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jianwen Luo","raw_affiliation_strings":["Robotics Lab, Stanford University, Palo Alto, CA, USA"],"raw_orcid":"https://orcid.org/0000-0002-1594-3867","affiliations":[{"raw_affiliation_string":"Robotics Lab, Stanford University, Palo Alto, CA, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"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":true,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["University of Texas at Austin, Austin, TX, USA"],"raw_orcid":"https://orcid.org/0000-0003-2856-4863","affiliations":[{"raw_affiliation_string":"University of Texas at Austin, Austin, TX, USA","institution_ids":["https://openalex.org/I86519309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079374033"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":4.7148,"has_fulltext":false,"cited_by_count":134,"citation_normalized_percentile":{"value":0.96158997,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"39","issue":"8","first_page":"936","last_page":"956"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9959999918937683,"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/robot-locomotion","display_name":"Robot locomotion","score":0.7078486680984497},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6409567594528198},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.554182767868042},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44288355112075806},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4396583139896393},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4262542128562927},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.42038044333457947},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4049883484840393},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35590869188308716},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.3544347882270813},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35177284479141235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3327614963054657},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.32018598914146423},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28303632140159607},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10077786445617676}],"concepts":[{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.7078486680984497},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6409567594528198},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.554182767868042},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44288355112075806},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4396583139896393},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4262542128562927},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.42038044333457947},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4049883484840393},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35590869188308716},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.3544347882270813},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35177284479141235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3327614963054657},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.32018598914146423},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28303632140159607},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10077786445617676},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364920918014","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364920918014","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:arXiv.org:1901.08100","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.08100","pdf_url":"https://arxiv.org/pdf/1901.08100","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1901.08100","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1901.08100","pdf_url":"https://arxiv.org/pdf/1901.08100","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7200000286102295}],"awards":[{"id":"https://openalex.org/G1869269386","display_name":"S&AS: INT: COLLAB: Composable and Verifiable Design for Autonomous Humanoid Robots in Space Missions","funder_award_id":"1724360","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3404611281","display_name":null,"funder_award_id":"#N000141512507","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G4090052988","display_name":"SATHE RESEARCH PROJECT IS AN EFFORT TOWARDS ACHIEVING 99.99% SAFETY OF MOBILE ROBOTS WORKING ALONGSIDE HUMANS WHILE MATCHING THE PRECISION PERFORMANCE OF INDUSTRIAL MANIPULATORS. THESE ROBOTS CAN BE ESPECIALLY USEFUL IN MULTIPLE INDUSTRIES NOT LIMITED TO SPACE APPLICATIONS. THIS PROPOSAL IS AIMED TOWARDS NASA'S TECHNOLOGY AREA BREAKDOWN (TAB) TA 4.3.1 ROBOT ARMS. THE CURRENT ISSUE IS THAT HAVE HIGH PRECISION INDUSTRIAL ROBOTS THAT ARE UNSAFE TO WORK WITH HUMANS. TO MAKE THEM SAFE UNDER COLLISIONS  WE CAN MANEUVER THE INDUSTRIAL ROBOT SLOWLY BUT THIS DECREASES PERFORMANCE. IF WE WANT TO MOVE FASTER  WE CAN USE COMPLAINT ROBOTS OR FORCE CONTROL ROBOTS TO OBTAIN SAFE HUMANOID BEHAVIORS IN COLLISION  BUT WE LOSE PRECISION AND THE HIGH PERFORMANCE THAT MAKES INDUSTRIAL ROBOTS SO PRODUCTIVE. MY OBJECTIVE IS TO ACHIEVE THE HIGH PRECISION PERFORMANCE OF AN INDUSTRIAL-GRADE ROBOT WITH THE SAFETY CAPABILITIES OF HUMAN-INTERACTING COMPLIANT ROBOTS. I WILL ACCOMPLISH THIS OBJECTIVE BY (1) FOCUSING ON SENSING PROCESSING FOR ULTRAFAST COLLISION DETECTION  (2) ANALYZING THE SPEED OF RESPONSE FACTORING ACTUATOR RESPONSE TIMES AND LATENCIES  (3) USING HIGH-STIFFNESS CONTROL TO MOVE AWAY AS QUICKLY AS POSSIBLE  (4) INVESTIGATING NON-LINEAR MATERIALS THAT ENHANCE SIGNAL PROCESSING AND ALSO DAMPEN COLLISIONS  (5) COMPARING IT WITH COMPLIANT ROBOTS IN TERMS OF SPEED RESPONSE TO SAFETY  (6) BUILDING A NEW MOBILE INDUSTRIAL ROBOT WITH SAFE-CENTERED MECHANICAL DESIGN TO CONDUCT 1 2 3 4 5 AND (6) REPORTING THE FINDINGS IN HIGHLY PRESTIGIOUS JOURNALS. DEVELOPING A DEXTEROUS  HIGH-PERFORMING  SAFE HUMANOID ROBOT HAS MANY POSITIVE BENEFITS FOR SPACE APPLICATIONS. FOR EXAMPLE  CURRENT SATELLITES AND SPACE STATIONS CAN DEPLOY THESE ROBOTS AS AVATARS FOR ASTRONAUTS TO PERFORM EXTERNAL REPAIR WORK IN A HAZARDOUS ENVIRONMENT. THIS IS INLINE WITH THE GOALS OF NASA'S ROBONAUT  BUT AN EVEN MORE APPEALING APPLICATION IS THE ABILITY OF HUMANOID ROBOTS TO WORK SIDE-BY-SIDE WITH CURRENT ASTRONAUTS. THESE ROBOTS CAN PERFORM MENIAL TASKS SUCH AS REPEATEDLY MOUNTING SCREWS OR HOLD TOOLS AND PARTS WHILE ASTRONAUTS WORK ON MORE COMPLEX AND MENTALLY ENGAGING TASKS. IF COLLABORATION THAT INVOLVES DIRECT OR INDIRECT CONTACT WITH THE ROBOT IS NEEDED  IT IS NECESSARY THAT THE ROBOT OPERATES WITH THE MAXIMUM ALLOWABLE PERFORMANCE UNDER SAFETY CONSTRAINTS. THESE HIGH-PERFORMING HUMANOID ROBOTS HAVE THE POTENTIAL TO ACT AS HELPERS IN BUILDING INSTRUMENTATION AND HABITATS FOR SPACE EXPLORATION OR CONDUCTING MISSIONS IN OTHER PLANETS.","funder_award_id":"NNX15AQ42H","funder_id":"https://openalex.org/F4320306101","funder_display_name":"National Aeronautics and Space Administration"}],"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/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W152725453","https://openalex.org/W1499277207","https://openalex.org/W1504362584","https://openalex.org/W1507646238","https://openalex.org/W1820821744","https://openalex.org/W1853143499","https://openalex.org/W1898154573","https://openalex.org/W1945123189","https://openalex.org/W1963750790","https://openalex.org/W1998568767","https://openalex.org/W2019606703","https://openalex.org/W2029058516","https://openalex.org/W2061063863","https://openalex.org/W2061350632","https://openalex.org/W2079995373","https://openalex.org/W2081683070","https://openalex.org/W2120675177","https://openalex.org/W2144351850","https://openalex.org/W2158457615","https://openalex.org/W2160049112","https://openalex.org/W2163668399","https://openalex.org/W2239166089","https://openalex.org/W2295584263","https://openalex.org/W2335044248","https://openalex.org/W2413990562","https://openalex.org/W2547678094","https://openalex.org/W2573227850","https://openalex.org/W2761235830","https://openalex.org/W2804790641","https://openalex.org/W2908233537","https://openalex.org/W2963317054","https://openalex.org/W3044706119","https://openalex.org/W4210990956"],"related_works":["https://openalex.org/W2171912896","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W4376605692","https://openalex.org/W2940850594","https://openalex.org/W4361230927","https://openalex.org/W3029431726","https://openalex.org/W2542723153"],"abstract_inverted_index":{"Whole-body":[0],"control":[1,7,11,90,133,242],"(WBC)":[2],"is":[3,81,124],"a":[4,56,161,215,219,240],"generic":[5],"task-oriented":[6],"method":[8,39],"for":[9,44,111],"feedback":[10],"of":[12,20,79,84,109,138,198,207,211,235],"loco-manipulation":[13],"behaviors":[14],"in":[15,30,51],"humanoid":[16,32],"robots.":[17,33,75],"The":[18,121],"combination":[19],"WBC":[21,38],"and":[22,135,176,181,218,232,237],"model-based":[23],"walking":[24,70,114,168,172,184],"controllers":[25,234],"has":[26,40],"been":[27,42],"widely":[28],"utilized":[29],"various":[31,205],"However,":[34],"to":[35,130,141,227],"date,":[36],"the":[37,60,82,89,117,132,143,195,229,233],"not":[41],"employed":[43],"unsupported":[45,72,154,166,208],"passive-ankle":[46,73,212],"dynamic":[47,69,102,113,155,209],"locomotion.":[48],"As":[49],"such,":[50],"this":[52,199],"article,":[53],"we":[54,104,148],"devise":[55],"new":[57],"WBC,":[58],"dubbed":[59],"whole-body":[61,241],"locomotion":[62,210],"controller":[63,217],"(WBLC),":[64],"that":[65,88,244],"can":[66],"achieve":[67,100],"experimental":[68],"on":[71],"biped":[74],"A":[76],"key":[77],"aspect":[78],"WBLC":[80,216],"relaxation":[83],"contact":[85],"constraints":[86],"such":[87],"commands":[91],"produce":[92],"reduced":[93],"jerk":[94,247],"when":[95],"switching":[96],"foot":[97],"contacts.":[98],"To":[99],"robust":[101],"locomotion,":[103],"conduct":[105,149],"an":[106,174,224],"in-depth":[107],"analysis":[108,226],"uncertainty":[110,122,225],"our":[112,139,186],"algorithm":[115],"called":[116],"time-to-velocity-reversal":[118],"(TVR)":[119],"planner.":[120],"study":[123],"fundamental":[125],"as":[126],"it":[127],"allows":[128],"us":[129],"improve":[131,228],"algorithms":[134],"mechanical":[136,230],"structure":[137,231],"robot":[140],"fulfill":[142],"tolerated":[144],"uncertainty.":[145],"In":[146],"addition,":[147],"extensive":[150],"experimentation":[151],"for:":[152],"(1)":[153],"balancing":[156],"(i.e.,":[157],"in-place":[158,183],"stepping)":[159],"with":[160,169,179,185],"six-degree-of-freedom":[162],"biped,":[163,192],"Mercury;":[164,170,180,236],"(2)":[165],"directional":[167],"(3)":[171],"over":[173],"irregular":[175],"slippery":[177],"terrain":[178],"4)":[182],"newly":[187],"designed":[188],"ten-DoF":[189],"viscoelastic":[190],"liquid-cooled":[191],"DRACO.":[193],"Overall,":[194],"main":[196],"contributions":[197],"work":[200],"are":[201],"on:":[202],"(a)":[203],"achieving":[204],"modalities":[206],"bipeds":[213],"using":[214],"TVR":[220],"planner;":[221],"(b)":[222],"conducting":[223],"(c)":[238],"devising":[239],"strategy":[243],"reduces":[245],"movement":[246],"during":[248],"walking.":[249]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":18},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1}],"updated_date":"2026-08-01T09:00:35.917206","created_date":"2025-10-10T00:00:00"}