{"id":"https://openalex.org/W2154313894","doi":"https://doi.org/10.1177/1059712312453059","title":"Linear reactive control of three-dimensional bipedal walking in the presence of noise and uncertainty","display_name":"Linear reactive control of three-dimensional bipedal walking in the presence of noise and uncertainty","publication_year":2012,"publication_date":"2012-08-31","ids":{"openalex":"https://openalex.org/W2154313894","doi":"https://doi.org/10.1177/1059712312453059","mag":"2154313894"},"language":"en","primary_location":{"id":"doi:10.1177/1059712312453059","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712312453059","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"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":"Adaptive Behavior","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5041094906","display_name":"Mark A Locascio","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mark A Locascio","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078799634","display_name":"Joseph H. Solomon","orcid":null},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joseph H Solomon","raw_affiliation_strings":["Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079028851","display_name":"Mitra J. Z. Hartmann","orcid":"https://orcid.org/0000-0003-0783-1483"},"institutions":[{"id":"https://openalex.org/I111979921","display_name":"Northwestern University","ror":"https://ror.org/000e0be47","country_code":"US","type":"education","lineage":["https://openalex.org/I111979921"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitra JZ Hartmann","raw_affiliation_strings":["Departments of Biomedical and Mechanical Engineering, Northwestern University, Evanston, IL, USA"],"affiliations":[{"raw_affiliation_string":"Departments of Biomedical and Mechanical Engineering, Northwestern University, Evanston, IL, USA","institution_ids":["https://openalex.org/I111979921"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5041094906"],"corresponding_institution_ids":["https://openalex.org/I111979921"],"apc_list":null,"apc_paid":null,"fwci":0.4034,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.65680407,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"20","issue":"6","first_page":"409","last_page":"426"},"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":0.9952999949455261,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9793999791145325,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8096946477890015},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.740095317363739},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5598500967025757},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5235921144485474},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5214576125144958},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5042325258255005},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49273231625556946},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4701412320137024},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4087717533111572},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.2798565626144409},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2500045597553253},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.23201808333396912},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2056245505809784},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06362944841384888}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8096946477890015},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.740095317363739},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598500967025757},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5235921144485474},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5214576125144958},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5042325258255005},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49273231625556946},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4701412320137024},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4087717533111572},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2798565626144409},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2500045597553253},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23201808333396912},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2056245505809784},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06362944841384888},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/1059712312453059","is_oa":false,"landing_page_url":"https://doi.org/10.1177/1059712312453059","pdf_url":null,"source":{"id":"https://openalex.org/S183337005","display_name":"Adaptive Behavior","issn_l":"1059-7123","issn":["1059-7123","1741-2633"],"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":"Adaptive Behavior","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1512383952","https://openalex.org/W1538403635","https://openalex.org/W1608391772","https://openalex.org/W1693541967","https://openalex.org/W1967246448","https://openalex.org/W1974986187","https://openalex.org/W1977023370","https://openalex.org/W1982482810","https://openalex.org/W1982880998","https://openalex.org/W1987693278","https://openalex.org/W1996763811","https://openalex.org/W2020555504","https://openalex.org/W2021068971","https://openalex.org/W2022206710","https://openalex.org/W2029058516","https://openalex.org/W2033226680","https://openalex.org/W2033433965","https://openalex.org/W2037729465","https://openalex.org/W2040657708","https://openalex.org/W2045381688","https://openalex.org/W2049815553","https://openalex.org/W2065942939","https://openalex.org/W2068834857","https://openalex.org/W2074686910","https://openalex.org/W2098787727","https://openalex.org/W2102162941","https://openalex.org/W2109502065","https://openalex.org/W2112169448","https://openalex.org/W2112892221","https://openalex.org/W2115819305","https://openalex.org/W2126254947","https://openalex.org/W2128131727","https://openalex.org/W2130329603","https://openalex.org/W2133859362","https://openalex.org/W2138671676","https://openalex.org/W2147618425","https://openalex.org/W2157055752","https://openalex.org/W2163668399","https://openalex.org/W2169470463","https://openalex.org/W2170215860","https://openalex.org/W2623785075","https://openalex.org/W3190121440"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W3154990682","https://openalex.org/W2560201613","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W4312219546","https://openalex.org/W2377538627","https://openalex.org/W2107220315","https://openalex.org/W1589637664","https://openalex.org/W1980376593"],"abstract_inverted_index":{"Walking":[0],"control":[1,23,39],"of":[2,47,75,78,102,123,135],"biped":[3],"robots":[4],"is":[5,36,51,92],"a":[6,21,96,145],"challenging":[7],"problem,":[8],"and":[9,14,83,87,106,127],"improving":[10],"robustness":[11,134],"to":[12,94,119,138],"noise":[13],"uncertainty":[15,84,117],"remains":[16],"difficult.":[17],"We":[18],"recently":[19],"developed":[20],"novel":[22],"framework":[24],"for":[25,148],"3D":[26],"bipedal":[27,149],"walking":[28],"that":[29,67],"we":[30],"call":[31],"\u201clinear":[32],"reactive":[33,52],"control.\u201d":[34],"It":[35,50,109],"linear":[37],"because":[38,53],"torques":[40],"are":[41],"computed":[42],"as":[43,144],"simple":[44],"weighted":[45],"sums":[46],"sensor":[48,81,104],"states.":[49],"it":[54],"depends":[55],"only":[56],"on":[57,113],"the":[58,73,100],"model\u2019s":[59],"current":[60],"state.":[61],"The":[62,90,133],"present":[63],"simulation":[64],"study":[65],"shows":[66],"this":[68,136,142],"controller":[69,91,137],"performs":[70,111],"reliably":[71,112],"in":[72,85,99,121],"presence":[74,101],"realistic":[76,139],"models":[77,114],"joint":[79],"actuation,":[80],"noise,":[82],"model":[86],"contact":[88,131],"parameters.":[89,132],"able":[93],"maintain":[95],"stable":[97],"gait":[98],"noisy":[103],"inputs":[105],"low-impedance":[107],"actuation.":[108],"also":[110],"with":[115],"high":[116],"(up":[118],"20%)":[120],"measurements":[122],"their":[124],"dynamic":[125],"parameters":[126],"widely":[128],"varying":[129],"ground":[130],"conditions":[140],"validates":[141],"method":[143],"promising":[146],"avenue":[147],"control.":[150]},"counts_by_year":[{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}