{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,10,30]],"date-time":"2024-10-30T02:34:48Z","timestamp":1730255688503,"version":"3.28.0"},"reference-count":36,"publisher":"IEEE","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2014,5]]},"DOI":"10.1109\/icra.2014.6907288","type":"proceedings-article","created":{"date-parts":[[2014,9,30]],"date-time":"2014-09-30T16:32:36Z","timestamp":1412094756000},"page":"2977-2982","source":"Crossref","is-referenced-by-count":4,"title":["Excitation and stabilization of passive dynamics in locomotion using hierarchical operational space control"],"prefix":"10.1109","author":[{"given":"Marco","family":"Hutter","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Christian","family":"Gehring","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael","family":"Bloesch","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mark","family":"Hoepflinger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Peter","family":"Fankhauser","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224960"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-7091-6711-3"},{"article-title":"StarlETH & Co - Design and Control of Legged Robots with Compliant Actuation","year":"2013","author":"hutter","key":"ref31"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2012.VIII.017"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/S1095-6433(02)00244-1"},{"journal-title":"Legged Robots That Balance","year":"1986","author":"raibert","key":"ref35"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631035"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509953"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1137\/1.9781611971484"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6224851"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2012.6651572"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2234351"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2020345"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2142450"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1142\/9789814415958_0062"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907476"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980156"},{"key":"ref4","first-page":"78","article-title":"Analysis and control of articulated robot arms with redundancy","volume":"14","author":"hanafusa","year":"1981","journal-title":"Preprints 8th Triennial IFA C World Congress"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851380"},{"journal-title":"Robot Control The Task Function Approach","year":"1991","author":"samson","key":"ref3"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref29","article-title":"Momentum-based Balance Control for Torque-controlled Humanoids","author":"herzog","year":"2013","journal-title":"Tech Rep"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.1991.240390"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6048762"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2043757"},{"key":"ref2","first-page":"33","article-title":"Stability in Walking Robots","volume":"1","author":"gonzales de santos","year":"2006","journal-title":"Quadrupedal Locomotion An Introduction to the Control of Four-legged Robots"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354341"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933136"},{"key":"ref20","first-page":"507","article-title":"High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH","author":"hutter","year":"2011","journal-title":"International Conference on Climbing and Walking Robots (CLAWAR)"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913489205"},{"article-title":"On the Passive Dynamics of Quadrupedal Running","year":"2002","author":"poulakakis","key":"ref21"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570361"},{"journal-title":"Elastic Mechanisms in Animal Movement","year":"1988","author":"alexander","key":"ref23"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2010.5509646"},{"article-title":"Synthesis and Control of Whole-Body Behaviors in Humanoid Systems","year":"2007","author":"sentis","key":"ref25"}],"event":{"name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2014,5,31]]},"location":"Hong Kong, China","end":{"date-parts":[[2014,6,7]]}},"container-title":["2014 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/6895053\/6906581\/06907288.pdf?arnumber=6907288","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,3,23]],"date-time":"2017-03-23T17:50:50Z","timestamp":1490291450000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6907288\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,5]]},"references-count":36,"URL":"https:\/\/doi.org\/10.1109\/icra.2014.6907288","relation":{},"subject":[],"published":{"date-parts":[[2014,5]]}}}