{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,25]],"date-time":"2025-07-25T10:33:40Z","timestamp":1753439620438},"publisher-location":"Cham","reference-count":23,"publisher":"Springer International Publishing","isbn-type":[{"type":"print","value":"9783319609157"},{"type":"electronic","value":"9783319609164"}],"license":[{"start":{"date-parts":[[2017,7,25]],"date-time":"2017-07-25T00:00:00Z","timestamp":1500940800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018]]},"DOI":"10.1007\/978-3-319-60916-4_14","type":"book-chapter","created":{"date-parts":[[2017,7,24]],"date-time":"2017-07-24T03:53:33Z","timestamp":1500868413000},"page":"235-251","source":"Crossref","is-referenced-by-count":7,"title":["Quantifying and Optimizing Robustness of Bipedal Walking Gaits on Rough Terrain"],"prefix":"10.1007","author":[{"given":"Cenk Oguz","family":"Saglam","sequence":"first","affiliation":[]},{"given":"Katie","family":"Byl","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2017,7,25]]},"reference":[{"key":"14_CR1","unstructured":"Saglam, C.O., Byl, K.: Robust policies via meshing for metastable rough terrain walking. In: Proceedings of Robotics: Science and Systems, Berkeley, USA (2014)"},{"key":"14_CR2","doi-asserted-by":"crossref","unstructured":"Vukobratovic, M., Borovac, B.: Zero-moment point - thirty five years of its life. Int. J. Humanoid Robot. 1(01), 157\u2013173 (2004)","DOI":"10.1142\/S0219843604000083"},{"key":"14_CR3","doi-asserted-by":"crossref","first-page":"1213","DOI":"10.1109\/TRO.2007.904908","volume":"23","author":"D Hobbelen","year":"2007","unstructured":"Hobbelen, D., Wisse, M.: A disturbance rejection measure for limit cycle walkers: the gait sensitivity norm. IEEE Trans. Robot. 23, 1213\u20131224 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"14_CR4","doi-asserted-by":"crossref","unstructured":"Morimioto, J., Zeglin, G., Atkeson, C.: Minimax differential dynamic programming: application to a biped walking robot. In: SICE 2003 Annual Conference, vol.\u00a03, pp.\u00a02310\u20132315, August 2003","DOI":"10.1109\/IROS.2003.1248926"},{"key":"14_CR5","doi-asserted-by":"crossref","unstructured":"Dai, H., Tedrake, R.: L2-gain optimization for robust bipedal walking on unknown terrain. In: 2013 IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a03116\u20133123. IEEE (2013)","DOI":"10.1109\/ICRA.2013.6631010"},{"key":"14_CR6","doi-asserted-by":"crossref","first-page":"30","DOI":"10.1115\/1.2895701","volume":"116","author":"Y Hurmuzlu","year":"1994","unstructured":"Hurmuzlu, Y., Basdogan, C.: On the measurement of dynamic stability of human locomotion. J. Biomech. Eng. 116, 30\u201336 (1994)","journal-title":"J. Biomech. Eng."},{"key":"14_CR7","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1177\/027836499000900206","volume":"9","author":"T McGeer","year":"1990","unstructured":"McGeer, T.: Passive dynamic walking. Int. J. Robot. Res. 9, 62\u201382 (1990)","journal-title":"Int. J. Robot. Res."},{"key":"14_CR8","doi-asserted-by":"crossref","unstructured":"Griffin, B., Grizzle, J.: Walking gait optimization for accommodation of unknown terrain height variations. In: American Control Conference (ACC) (2015)","DOI":"10.1109\/ACC.2015.7172087"},{"key":"14_CR9","doi-asserted-by":"crossref","first-page":"129","DOI":"10.1177\/02783640122067309","volume":"20","author":"J Pratt","year":"2001","unstructured":"Pratt, J., Chew, C.-M., Torres, A., Dilworth, P., Pratt, G.: Virtual model control: an intuitive approach for bipedal locomotion. Int. J. Robot. Res. 20, 129\u2013143 (2001)","journal-title":"Int. J. Robot. Res."},{"key":"14_CR10","series-title":"Lecture Notes in Control and Information Sciences","doi-asserted-by":"crossref","first-page":"89","DOI":"10.1007\/978-1-4471-2343-9_8","volume-title":"Robot Motion and Control 2011","author":"AD Ames","year":"2012","unstructured":"Ames, A.D.: First steps toward automatically generating bipedal robotic walking from human data. In: Kozowski, K. (ed.) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol. 422, pp. 89\u2013116. springer, london (2012)"},{"key":"14_CR11","doi-asserted-by":"crossref","first-page":"1040","DOI":"10.1177\/0278364909340446","volume":"28","author":"K Byl","year":"2009","unstructured":"Byl, K., Tedrake, R.: Metastable walking machines. Int. J. Robot. Res. 28, 1040\u20131064 (2009)","journal-title":"Int. J. Robot. Res."},{"key":"14_CR12","doi-asserted-by":"crossref","first-page":"42","DOI":"10.1109\/TAC.2002.806653","volume":"48","author":"E Westervelt","year":"2003","unstructured":"Westervelt, E., Grizzle, J.W., Koditschek, D.: Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Control 48, 42\u201356 (2003)","journal-title":"IEEE Trans. Autom. Control"},{"key":"14_CR13","series-title":"Automation and Control Engineering","doi-asserted-by":"crossref","DOI":"10.1201\/9781420053739","volume-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","author":"E Westervelt","year":"2007","unstructured":"Westervelt, E., Chevallereau, C., Morris, B., Grizzle, J., Ho\u00a0Choi, J.: Feedback Control of Dynamic Bipedal Robot Locomotion. Automation and Control Engineering, vol. 26. CRC Press, Boca Raton (2007)"},{"key":"14_CR14","doi-asserted-by":"crossref","first-page":"82","DOI":"10.1177\/027836499401300106","volume":"13","author":"Y Hurmuzlu","year":"1994","unstructured":"Hurmuzlu, Y., Marghitu, D.: Rigid body collisions of planar kinematic chains with multiple contact points. Int. J. Robot. Res. 13, 82\u201392 (1994)","journal-title":"Int. J. Robot. Res."},{"issue":"2\u20134","key":"14_CR15","doi-asserted-by":"crossref","first-page":"375","DOI":"10.1023\/A:1007924731253","volume":"20","author":"SG Tzafestas","year":"1997","unstructured":"Tzafestas, S.G., Krikochoritis, T.E., Tzafestas, C.S.: Robust sliding-mode control of nine-link biped robot walking. J. Intell. Robot. Syst. 20(2\u20134), 375\u2013402 (1997)","journal-title":"J. Intell. Robot. Syst."},{"key":"14_CR16","doi-asserted-by":"crossref","unstructured":"Saglam, C.O., Byl, K.: Switching policies for metastable walking. In: Proceedings of IEEE Conference on Decision and Control (CDC), pp.\u00a0977\u2013983, December 2013","DOI":"10.1109\/CDC.2013.6760009"},{"key":"14_CR17","doi-asserted-by":"crossref","DOI":"10.1002\/9780470825754","volume-title":"Motion Control Systems","author":"A Sabanovic","year":"2011","unstructured":"Sabanovic, A., Ohnishi, K.: Motion Control Systems. Wiley, Singapore (2011)"},{"key":"14_CR18","doi-asserted-by":"crossref","unstructured":"Saglam, C.O., Byl, K.: Stability and gait transition of the five-link biped on stochastically rough terrain using a discrete set of sliding mode controllers. In: IEEE International Conference on Robotics and Automation (ICRA), pp.\u00a05675\u20135682, May 2013","DOI":"10.1109\/ICRA.2013.6631393"},{"key":"14_CR19","unstructured":"Abbeel, P.: Discretization. In: CS 287: Advanced Robotics Lecture Notes (2012). Accessed: 2015-05-06"},{"key":"14_CR20","doi-asserted-by":"crossref","unstructured":"Saglam, C.O., Byl, K.: Metastable Markov chains. In: IEEE Conference on Decision and Control (CDC), December 2014","DOI":"10.1109\/CDC.2014.7039847"},{"key":"14_CR21","unstructured":"Saglam, C.O.: Tractable Quantification of Metastability for Robust Bipedal Locomotion. Ph.D. thesis, University of California, Santa Barbara, June 2015"},{"key":"14_CR22","unstructured":"Oldenhuis, R.: Minimize - File Exchange - MATLAB Central"},{"key":"14_CR23","doi-asserted-by":"crossref","unstructured":"Saglam, C.O., Byl, K.: Quantifying the trade-offs between stability versus energy use for underactuated biped walking. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS) (2014)","DOI":"10.1109\/IROS.2014.6942910"}],"container-title":["Springer Proceedings in Advanced Robotics","Robotics Research"],"original-title":[],"link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-60916-4_14","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,7,24]],"date-time":"2017-07-24T03:59:42Z","timestamp":1500868782000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-60916-4_14"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2017,7,25]]},"ISBN":["9783319609157","9783319609164"],"references-count":23,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-60916-4_14","relation":{},"ISSN":["2511-1256","2511-1264"],"issn-type":[{"type":"print","value":"2511-1256"},{"type":"electronic","value":"2511-1264"}],"subject":[],"published":{"date-parts":[[2017,7,25]]}}}