{"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":6,"corresponding_author_ids":["https://openalex.org/A5079374033"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":5.5724,"has_fulltext":false,"cited_by_count":132,"citation_normalized_percentile":{"value":0.96816937,"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":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":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":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":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":null,"funder_award_id":"1724360","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G3886415718","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":null,"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":6},{"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":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}