{"id":"https://openalex.org/W4385343950","doi":"https://doi.org/10.3390/robotics12040109","title":"Stability of a Groucho-Style Bounding Run in the Sagittal Plane","display_name":"Stability of a Groucho-Style Bounding Run in the Sagittal Plane","publication_year":2023,"publication_date":"2023-07-27","ids":{"openalex":"https://openalex.org/W4385343950","doi":"https://doi.org/10.3390/robotics12040109"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12040109","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040109","pdf_url":"https://www.mdpi.com/2218-6581/12/4/109/pdf?version=1690465836","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/12/4/109/pdf?version=1690465836","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035803858","display_name":"Jeffrey Duperret","orcid":null},"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":"Jeffrey Duperret","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA"],"raw_orcid":"https://orcid.org/0000-0001-5516-8685","affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, 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":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA"],"raw_orcid":"https://orcid.org/0000-0001-5188-1352","affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5035803858"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.2146,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.47223901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"12","issue":"4","first_page":"109","last_page":"109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9948999881744385,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9930999875068665,"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/bounding-overwatch","display_name":"Bounding overwatch","score":0.6622796058654785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6303000450134277},{"id":"https://openalex.org/keywords/hypersphere","display_name":"Hypersphere","score":0.5329122543334961},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.507972776889801},{"id":"https://openalex.org/keywords/limit-cycle","display_name":"Limit cycle","score":0.5078712105751038},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4802272915840149},{"id":"https://openalex.org/keywords/cascade","display_name":"Cascade","score":0.4635535776615143},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4582774341106415},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4498632252216339},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.378031849861145},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.32360801100730896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2979770302772522},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2939356565475464},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23685306310653687},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.19280874729156494},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16282933950424194},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.10716274380683899},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1046927273273468}],"concepts":[{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.6622796058654785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6303000450134277},{"id":"https://openalex.org/C2776562905","wikidata":"https://www.wikidata.org/wiki/Q306610","display_name":"Hypersphere","level":2,"score":0.5329122543334961},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.507972776889801},{"id":"https://openalex.org/C93357160","wikidata":"https://www.wikidata.org/wiki/Q1545916","display_name":"Limit cycle","level":3,"score":0.5078712105751038},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4802272915840149},{"id":"https://openalex.org/C34146451","wikidata":"https://www.wikidata.org/wiki/Q5048094","display_name":"Cascade","level":2,"score":0.4635535776615143},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4582774341106415},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4498632252216339},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.378031849861145},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.32360801100730896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2979770302772522},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2939356565475464},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23685306310653687},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.19280874729156494},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16282933950424194},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.10716274380683899},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1046927273273468},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C42360764","wikidata":"https://www.wikidata.org/wiki/Q83588","display_name":"Chemical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12040109","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040109","pdf_url":"https://www.mdpi.com/2218-6581/12/4/109/pdf?version=1690465836","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:877dbd08252343c79cd1d3b832d5d386","is_oa":true,"landing_page_url":"https://doaj.org/article/877dbd08252343c79cd1d3b832d5d386","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 4, p 109 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/4/109/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12040109","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 12; Issue 4; Pages: 109","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12040109","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12040109","pdf_url":"https://www.mdpi.com/2218-6581/12/4/109/pdf?version=1690465836","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16"}],"awards":[{"id":"https://openalex.org/G1740622364","display_name":null,"funder_award_id":"N00014-16-1-2817","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G3459211918","display_name":null,"funder_award_id":"DGE-0822","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4843547138","display_name":null,"funder_award_id":"DGE-0822","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5877274225","display_name":null,"funder_award_id":"N00014-16-1-2817","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G5935785662","display_name":null,"funder_award_id":"W911NF-17-1-0229","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7071454403","display_name":null,"funder_award_id":"W911NF-17-1-0229","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7669923074","display_name":null,"funder_award_id":"N00014-16-1-2817","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385343950.pdf","grobid_xml":"https://content.openalex.org/works/W4385343950.grobid-xml"},"referenced_works_count":72,"referenced_works":["https://openalex.org/W99189181","https://openalex.org/W1502718064","https://openalex.org/W1527751191","https://openalex.org/W1543608798","https://openalex.org/W1945123189","https://openalex.org/W1968560077","https://openalex.org/W1978102433","https://openalex.org/W1988193275","https://openalex.org/W1989385609","https://openalex.org/W1989665388","https://openalex.org/W1993314711","https://openalex.org/W2001099507","https://openalex.org/W2005342274","https://openalex.org/W2011520379","https://openalex.org/W2037100263","https://openalex.org/W2056295178","https://openalex.org/W2066472489","https://openalex.org/W2077676902","https://openalex.org/W2081031163","https://openalex.org/W2085032166","https://openalex.org/W2086001522","https://openalex.org/W2088381757","https://openalex.org/W2088478372","https://openalex.org/W2092535029","https://openalex.org/W2099902498","https://openalex.org/W2102874149","https://openalex.org/W2109916218","https://openalex.org/W2111336616","https://openalex.org/W2111364616","https://openalex.org/W2121829700","https://openalex.org/W2126838441","https://openalex.org/W2128131727","https://openalex.org/W2129224530","https://openalex.org/W2129287493","https://openalex.org/W2131099776","https://openalex.org/W2133214403","https://openalex.org/W2135410088","https://openalex.org/W2135608731","https://openalex.org/W2156191906","https://openalex.org/W2159220301","https://openalex.org/W2161427949","https://openalex.org/W2165529265","https://openalex.org/W2167374596","https://openalex.org/W2169470463","https://openalex.org/W2170320699","https://openalex.org/W2295130897","https://openalex.org/W2334764185","https://openalex.org/W2582371046","https://openalex.org/W2593412525","https://openalex.org/W2598816780","https://openalex.org/W2738319051","https://openalex.org/W2767376248","https://openalex.org/W2767425040","https://openalex.org/W2793122067","https://openalex.org/W2861559353","https://openalex.org/W2909331752","https://openalex.org/W2910961611","https://openalex.org/W2911087563","https://openalex.org/W2963315892","https://openalex.org/W2968213087","https://openalex.org/W2974596055","https://openalex.org/W3006891653","https://openalex.org/W3093922502","https://openalex.org/W3103045662","https://openalex.org/W3104876774","https://openalex.org/W3109689575","https://openalex.org/W3120971098","https://openalex.org/W4205687208","https://openalex.org/W4210546460","https://openalex.org/W6600369840","https://openalex.org/W6603996796","https://openalex.org/W6675172277"],"related_works":["https://openalex.org/W2099702253","https://openalex.org/W2059484267","https://openalex.org/W1970780628","https://openalex.org/W2069017679","https://openalex.org/W2133653616","https://openalex.org/W2921850681","https://openalex.org/W2079494444","https://openalex.org/W4389755575","https://openalex.org/W2110872974","https://openalex.org/W2123867417"],"abstract_inverted_index":{"This":[0],"paper":[1],"develops":[2],"a":[3,11,20,24,28,39,46,67,115],"three-degree-of-freedom":[4],"sagittal-plane":[5],"hybrid":[6,31,59,127],"dynamical":[7,53],"systems":[8],"model":[9],"of":[10,30,41,48,70,77,84,93],"Groucho-style":[12],"bounding":[13,36,72,122],"quadrupedal":[14],"run.":[15],"Simple":[16],"within-stance":[17],"controls":[18,101],"using":[19],"modular":[21],"architecture":[22],"yield":[23],"closed-form":[25],"expression":[26],"for":[27],"family":[29],"limit":[32,128],"cycles":[33],"that":[34],"represent":[35],"behavior":[37,123],"over":[38],"range":[40],"user-selected":[42],"fore-aft":[43,75],"speeds":[44],"as":[45,64],"function":[47],"the":[49,58,74,81,88,94,121,126],"model\u2019s":[50],"kinematic":[51],"and":[52,130],"parameters.":[54],"Controls":[55],"acting":[56],"on":[57],"transitions":[60],"are":[61],"structured":[62],"so":[63],"to":[65,87,98],"achieve":[66],"cascade":[68],"composition":[69],"in-place":[71],"driving":[73],"degree":[76],"freedom,":[78],"thereby":[79],"decoupling":[80],"linearized":[82,133],"dynamics":[83],"an":[85],"approximation":[86],"stride":[89],"map.":[90],"Careful":[91],"selection":[92],"feedback":[95],"channels":[96],"used":[97],"implement":[99],"these":[100],"affords":[102],"infinitesimal":[103],"deadbeat":[104],"stability,":[105],"which":[106],"is":[107],"relatively":[108],"robust":[109],"against":[110],"parameter":[111],"mismatch.":[112],"Experiments":[113],"with":[114],"physical":[116],"quadruped":[117],"reasonably":[118],"closely":[119],"match":[120],"predicted":[124],"by":[125],"cycle":[129],"its":[131],"stable":[132],"approximation.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
