{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T16:20:21Z","timestamp":1775665221695,"version":"3.50.1"},"reference-count":30,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,5,30]],"date-time":"2021-05-30T00:00:00Z","timestamp":1622332800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100015599","name":"Toyota Research Institute","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100015599","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,5,30]]},"DOI":"10.1109\/icra48506.2021.9560821","type":"proceedings-article","created":{"date-parts":[[2021,10,20]],"date-time":"2021-10-20T00:28:35Z","timestamp":1634689715000},"page":"2832-2838","source":"Crossref","is-referenced-by-count":47,"title":["One-Step Ahead Prediction of Angular Momentum about the Contact Point for Control of Bipedal Locomotion: Validation in a LIP-inspired Controller"],"prefix":"10.1109","author":[{"given":"Yukai","family":"Gong","sequence":"first","affiliation":[{"name":"University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109"}]},{"given":"Jessy","family":"Grizzle","sequence":"additional","affiliation":[{"name":"University of Michigan,College of Engineering and the Robotics Institute,Ann Arbor,MI,USA,48109"}]}],"member":"263","reference":[{"key":"ref30","year":"0","journal-title":"Michigan Robotics Dynamic Legged Locomotion Lab Youtube Channel"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6048045"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1241826"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363473"},{"key":"ref13","first-page":"278364917708249","article-title":"Nonholonomic virtual constraints and gait optimization for robust walking control","author":"griffin","year":"2016","journal-title":"The International Journal of Robotics Research"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759108"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.847057"},{"key":"ref16","author":"westervelt","year":"2007","journal-title":"Feedback Control of Dynamic Bipedal Robot Locomotion"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_14"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126214"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1991.131811"},{"key":"ref28","author":"hartley","year":"0","journal-title":"Invariant-EKF"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2016.2582731"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919894385"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2001.973365"},{"key":"ref6","article-title":"Matthieu Masselin, Aaron D. Ames, Koushil Sreenath, and Jessy Grizzle. Feedback control of an exoskeleton for paraplegics: Toward robustly stable hands-free dynamic walking","author":"harib","year":"2018","journal-title":"arXiv preprint arXiv 1802 08322 [cs RO]"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/CCTA.2017.8062632"},{"key":"ref29","year":"0","journal-title":"Experiment Video Compilation"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919859425"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.23919\/ACC.2019.8814833"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1145\/2185632.2185655"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2006.321385"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/9.898695"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803391"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(85)90042-9"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1984.6313238"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"57","DOI":"10.1109\/MCS.2003.1234651","article-title":"RABBIT: A testbed for advanced control theory","volume":"23","author":"chevallereau","year":"2003","journal-title":"IEEE Control Systems Magazine"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968162"},{"key":"ref26","article-title":"Angular momentum about the contact point for control of bipedal locomotion: Validation in a lip-based controller","author":"gong","year":"2020","journal-title":"arXiv preprint arXiv 2008 10763 [cs CV]"},{"key":"ref25","author":"ayonga","year":"0","journal-title":"Frost* Fast robot optimization and simulation toolkit"}],"event":{"name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","location":"Xi'an, China","start":{"date-parts":[[2021,5,30]]},"end":{"date-parts":[[2021,6,5]]}},"container-title":["2021 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9560720\/9560666\/09560821.pdf?arnumber=9560821","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,8,2]],"date-time":"2022-08-02T23:23:08Z","timestamp":1659482588000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9560821\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,30]]},"references-count":30,"URL":"https:\/\/doi.org\/10.1109\/icra48506.2021.9560821","relation":{},"subject":[],"published":{"date-parts":[[2021,5,30]]}}}