{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,21]],"date-time":"2026-01-21T06:17:24Z","timestamp":1768976244502,"version":"3.49.0"},"reference-count":63,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"2","license":[{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"am","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,4,1]],"date-time":"2022-04-01T00:00:00Z","timestamp":1648771200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"NSF","award":["IIS-0964665"],"award-info":[{"award-number":["IIS-0964665"]}]},{"name":"NSF","award":["IIS-1018167"],"award-info":[{"award-number":["IIS-1018167"]}]},{"name":"NSF","award":["CMMI-1436297"],"award-info":[{"award-number":["CMMI-1436297"]}]},{"DOI":"10.13039\/100005156","name":"Alexander von Humboldt-Stiftung","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100005156","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2022,4]]},"DOI":"10.1109\/tro.2021.3094159","type":"journal-article","created":{"date-parts":[[2021,8,25]],"date-time":"2021-08-25T20:06:05Z","timestamp":1629921965000},"page":"699-718","source":"Crossref","is-referenced-by-count":16,"title":["A Topological Approach to Gait Generation for Biped Robots"],"prefix":"10.1109","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-0250-1170","authenticated-orcid":false,"given":"Nelson","family":"Rosa","sequence":"first","affiliation":[{"name":"Institute for Nonlinear Mechanics, University of Stuttgart, Stuttgart, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3833-6004","authenticated-orcid":false,"given":"Kevin M.","family":"Lynch","sequence":"additional","affiliation":[{"name":"Center for Robotics and Biosystems, the Northwestern Institute on Complex Systems, and the Department of Mechanical Engineering, Northwestern University, Evanston, IL, USA"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.2012.2186808"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801701202"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1115\/1.2798313"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1201\/9781420053739"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1007\/1-84628-194-6"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905055377"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.04.021"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915612572"},{"key":"ref10","article-title":"Passive dynamic walking with knees: A point foot model, Masters thesis","author":"Chen","year":"2007"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2017.2783371"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487270"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2210484"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2016.7799249"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574712000203"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.15607\/rss.2014.x.049"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943076"},{"key":"ref18","article-title":"Using equilibria and virtual holonomic constraints to generatefamilies of walking gaits","volume-title":"Proc. Dyn. Walking Conf.","author":"Rosa","year":"2017"},{"key":"ref19","article-title":"Collisionless rigid body locomotion models and physically based homotopy methods for finding periodic motions in high degree of freedom models","author":"Gomes","year":"2005"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1080\/02681110050032128"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1080\/713603737"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225293"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1142\/9789814525534_0080"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-6356-5"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2015.7402850"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1177\/0278364915593400"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2003.1234651"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025693"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7140000"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1016\/S0377-0427(00)00428-3"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1145\/2366145.2366173"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1098\/rsif.2018.0455"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1137\/S1052623499350013"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718577"},{"key":"ref36","article-title":"Bipedal gait generation library","volume-title":"last accessed Jun. 03,","author":"Rosa"},{"key":"ref37","volume-title":"Calculus on Manifolds. A Modern Approach to Classical Theorems of Advanced Calculus","author":"Spivak","year":"1965"},{"key":"ref38","doi-asserted-by":"crossref","DOI":"10.1007\/978-3-642-61257-2","volume-title":"Numerical Continuation Methods, an Introduction","author":"Allgower","year":"1990"},{"key":"ref39","volume-title":"Principles of Robot Motion: Theory, Algorithms, and Implementations","author":"Choset","year":"2005"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570404"},{"key":"ref41","volume-title":"Impulsive Differential Equations: Periodic Solutions and Applications (Monographs and Surveys in Pure and Applied Mathematics","author":"Bainov","year":"1993"},{"key":"ref42","volume-title":"Numerical Recipes in C: The Art of Scientific Computing","author":"Press","year":"2002"},{"key":"ref43","doi-asserted-by":"publisher","DOI":"10.1142\/S0218127402004498"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1007\/b98874"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1137\/0320018"},{"key":"ref46","doi-asserted-by":"crossref","DOI":"10.1137\/1.9781611970920","author":"Kelley","year":"1999","journal-title":"Iterative methods for optimization. Society for Industrial and Applied Mathematics"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2014.2328796"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1016\/b978-0-12-208360-0.50009-7"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1016\/0022-247x(66)90115-6"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914522141"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2239551"},{"key":"ref52","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2006.02.013"},{"key":"ref53","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010366"},{"key":"ref54","article-title":"Atlasthe agile anthropomorphic robot","volume-title":"last accessed Dec. 4, 2014","year":"2013"},{"key":"ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4899-7560-7"},{"key":"ref56","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152694"},{"key":"ref57","article-title":"DRC_skeleton_v3_mod1.CFG","volume-title":"GitHub","year":"2013"},{"key":"ref58","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916648388"},{"key":"ref60","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8202230"},{"key":"ref61","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.802207"},{"key":"ref62","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851380"},{"key":"ref63","doi-asserted-by":"publisher","DOI":"10.1115\/1.2803258"},{"key":"ref64","doi-asserted-by":"publisher","DOI":"10.2514\/2.4246"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"https:\/\/ieeexplore.ieee.org\/ielam\/8860\/9749165\/9521970-aam.pdf","content-type":"application\/pdf","content-version":"am","intended-application":"syndication"},{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/9749165\/09521970.pdf?arnumber=9521970","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,15]],"date-time":"2024-01-15T21:43:06Z","timestamp":1705354986000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9521970\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4]]},"references-count":63,"journal-issue":{"issue":"2"},"URL":"https:\/\/doi.org\/10.1109\/tro.2021.3094159","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,4]]}}}