{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T06:19:40Z","timestamp":1785392380244,"version":"3.55.0"},"reference-count":39,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2013,4,1]],"date-time":"2013-04-01T00:00:00Z","timestamp":1364774400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2013,4]]},"DOI":"10.1109\/tro.2012.2230992","type":"journal-article","created":{"date-parts":[[2012,12,31]],"date-time":"2012-12-31T19:06:17Z","timestamp":1356980777000},"page":"331-345","source":"Crossref","is-referenced-by-count":109,"title":["A Finite-State Machine for Accommodating Unexpected Large Ground-Height Variations in Bipedal Robot Walking"],"prefix":"10.1109","volume":"29","author":[{"given":"Hae-Won","family":"Park","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Alireza","family":"Ramezani","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J. W.","family":"Grizzle","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref39","year":"0"},{"key":"ref38","year":"0"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1016\/j.humov.2010.04.007"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.014357"},{"key":"ref31","first-page":"610","article-title":"Electromyographic kinesiology of lower extremity muscles during slope walking","volume":"66","author":"tokuhiro","year":"1985","journal-title":"Arch Phys Med Rehabil"},{"key":"ref30","first-page":"179","article-title":"Gait analysis of slope walking: A study on step length, stride width, time factors and deviation in the center of pressure","volume":"45","author":"kawamura","year":"1991","journal-title":"Acta Med Okayama"},{"key":"ref37","author":"park","year":"2012","journal-title":"Control of a bipedal robot walker on rough terrain"},{"key":"ref36","article-title":"A human-inspired hybrid control approach to bipedal robotic walking","author":"sinnet","year":"2011","journal-title":"presented at the 18th IFAC World Congr"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(97)84507-1"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1007\/BF00227520"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851381"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008891909459"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067309"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2009.5160550"},{"key":"ref14","doi-asserted-by":"crossref","first-page":"1170","DOI":"10.1177\/0278364910379882","article-title":"A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL","volume":"30","author":"park","year":"2011","journal-title":"Int J Robot Res"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2010.939963"},{"key":"ref16","author":"hurst","year":"2008","journal-title":"The Role and Implementation of Compliance in Legged Locomotion"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900205"},{"key":"ref18","author":"khalil","year":"2002","journal-title":"Modeling Identification and Control of Robots"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300106"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.904908"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225056"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543376"},{"key":"ref27","author":"sreenath","year":"2011","journal-title":"Feedback Control of A Bipedal Walker and Runner with Compliance"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.838030"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.917002"},{"key":"ref29","doi-asserted-by":"crossref","first-page":"255","DOI":"10.1016\/j.gaitpost.2003.09.006","article-title":"Locomotor adaptations for changes in the slope of the walking surface","volume":"20","author":"prentice","year":"2004","journal-title":"Gait Post"},{"key":"ref8","article-title":"Transverse dynamics and regions of stability for nonlinear hybrid limit cycles","author":"manchester","year":"2011","journal-title":"presented at the 18th IFAC World Congr"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910395339"},{"key":"ref2","article-title":"Metastable walking on stochastically rough terrain","author":"tedrake","year":"2008","journal-title":"presented at the Robot Sci Syst IV"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340446"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906069151"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"ref22","doi-asserted-by":"crossref","DOI":"10.1201\/9781420053739","author":"westervelt","year":"2007","journal-title":"Feedback Control of Dynamic Bipedal Robot Locomotion"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.814514"},{"key":"ref24","year":"0"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2004.03.002"},{"key":"ref26","article-title":"Embedding active force control within the compliant hybrid zero dynamics to achieve stable, fast running on MABEL","author":"sreenath","year":"2012","journal-title":"Int J Robot Res"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2007.364197"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/8860\/6491466\/06399609.pdf?arnumber=6399609","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:38:09Z","timestamp":1642005489000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6399609\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,4]]},"references-count":39,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tro.2012.2230992","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,4]]}}}