{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T06:47:36Z","timestamp":1761979656460,"version":"build-2065373602"},"reference-count":25,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T00:00:00Z","timestamp":1396310400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, we present a theoretical study on the control of a compass gait walker using energy regulation between steps. We use a return map to relate the mid-stance robot kinetic energy between steps with two control inputs, namely, foot placement and ankle push-off. We show that by regulating robot kinetic energy between steps using the two control inputs, we are able to (1) generate a wide range of walking speeds and stride lengths, including average human walking; (2) cancel the effect of external disturbance fully in a single step (dead-beat control); and (3) switch from one periodic gait to another in a single step. We hope that insights from this control methodology can help develop robust controllers for practical bipedal robots.<\/jats:p>","DOI":"10.1017\/s0263574714000745","type":"journal-article","created":{"date-parts":[[2014,4,1]],"date-time":"2014-04-01T12:40:56Z","timestamp":1396356056000},"page":"1314-1324","source":"Crossref","is-referenced-by-count":21,"title":["Control of a compass gait walker based on energy regulation using ankle push-off and foot placement"],"prefix":"10.1017","volume":"33","author":[{"given":"Pranav A.","family":"Bhounsule","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,4,1]]},"reference":[{"key":"S0263574714000745_ref24","doi-asserted-by":"crossref","first-page":"977","DOI":"10.1109\/CDC.2013.6760009","volume-title":"International Conference on Decisions and Control","author":"Saglam","year":"2013"},{"key":"S0263574714000745_ref23","first-page":"1","article-title":"The 3-D spring\u2013mass model reveals a time-based deadbeat control for highly robust running and steering in uncertain environments","volume":"99","author":"Wu","year":"2013","journal-title":"IEEE Trans. Robot."},{"volume-title":"Nonlinear Dynamics and Chaos: With Applications to Physics, Biology, Chemistry and Engineering","year":"2001","author":"Strogatz","key":"S0263574714000745_ref20"},{"key":"S0263574714000745_ref18","first-page":"277","article-title":"Energy\u2013speed relation and optimal speed during level walking","volume":"17","author":"Ralston","year":"1958","journal-title":"Int. Zeitschrift f\u00fcr angewandte Physiologie einschlie\u00dflich Arbeitsphysiologie"},{"key":"S0263574714000745_ref17","unstructured":"A. Ruina , \u201cCornell ranger 2011, 4-legged bipedal robot. Available at: http:\/\/ruina.tam.cornell.edu\/research\/topics\/locomotion_and_robotics\/ranger\/Ranger2011\/ (2013, June), online. (Or Google search for Cornell ranger)."},{"key":"S0263574714000745_ref16","doi-asserted-by":"crossref","unstructured":"P. A. Bhounsule , J. Cortell , A. Grewal , B. Hendriksen , J. G. D. Karrsen , C. Paul and A. Ruina , \u201cLow-bandwidth reflex-based control for lower power walking: 65 km on a single battery charge,\u201d Int. J. Robot. Res. 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Bhounsule , A Controller Design Framework for Bipedal Robots: Trajectory Optimization and Event-Based Stabilization Ph.D. Thesis, Cornell University, Ithaca, NY (2012)."},{"volume-title":"Linear Systems","year":"1997","author":"Antsaklis","key":"S0263574714000745_ref21"},{"key":"S0263574714000745_ref10","doi-asserted-by":"publisher","DOI":"10.1115\/1.2815334"},{"key":"S0263574714000745_ref14","doi-asserted-by":"publisher","DOI":"10.2522\/ptj.20090125"},{"key":"S0263574714000745_ref8","first-page":"200","volume-title":"International Conference on Humanoid Robots","author":"Pratt","year":"2006"},{"key":"S0263574714000745_ref9","first-page":"2885","volume-title":"International Conference on Robotics and Automation","author":"Kajita","year":"1995"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000745","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,20]],"date-time":"2019-04-20T22:20:42Z","timestamp":1555798842000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000745\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,4,1]]},"references-count":25,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2015,7]]}},"alternative-id":["S0263574714000745"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000745","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2014,4,1]]}}}