{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,24]],"date-time":"2026-06-24T15:17:26Z","timestamp":1782314246851,"version":"3.54.5"},"reference-count":20,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2001,2,1]],"date-time":"2001-02-01T00:00:00Z","timestamp":980985600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2001,2]]},"abstract":"<jats:p>Virtual model control is a motion control framework that uses virtual components to create virtual forces generated when the virtual components interact with a robot system. An algorithm derived based on the virtual model control framework is applied to a physical planar bipedal robot. It uses a simple set of virtual components that allows the robot to walk successfully over level terrain. This paper also describes how the algorithm can be augmented for rough terrain walking based on geometric consideration. The resulting algorithm is very simple and does not require the biped to have an extensive sensory system. The robot does not know the slope gradients and transition locations in advance. The ground is detected using foot contact switches. Using the algorithm, we have successfully compelled a simulated seven-link planar biped to walk blindly up and down slopes and over rolling terrain.<\/jats:p>","DOI":"10.1177\/02783640122067309","type":"journal-article","created":{"date-parts":[[2003,7,19]],"date-time":"2003-07-19T02:59:46Z","timestamp":1058583586000},"page":"129-143","source":"Crossref","is-referenced-by-count":435,"title":["Virtual Model Control: An Intuitive Approach for Bipedal Locomotion"],"prefix":"10.1177","volume":"20","author":[{"given":"Jerry","family":"Pratt","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chee-Meng","family":"Chew","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ann","family":"Torres","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Dilworth","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gill","family":"Pratt","sequence":"additional","affiliation":[{"name":"Leg Laboratory, Massachusetts Institute of Technology, Cambridge,                         Massachusetts 02139, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2001,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1987.326091"},{"key":"atypb2","unstructured":"Chew, C.M. 1998.\n                      Blind Walking of a Planar Biped over Sloped Terrain.\n                      Master\u2019s thesis, Massachusetts Institute of Technology."},{"key":"atypb3","unstructured":"Chew, C.M., and Pratt, G. A. 1999. A minimum model adaptive control approach for a planar biped . Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Kyongju, Korea."},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900207"},{"key":"atypb5","doi-asserted-by":"crossref","unstructured":"Golliday, C. L., and Hemami, H. 1977. An approach to analyzing biped locomotion dynamics and designing robot locomotion controls . IEEE Transactions on Automatic Control AC-42: 963\u2013973 .","DOI":"10.1109\/TAC.1977.1101650"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1974.324294"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90099-2"},{"key":"atypb9","doi-asserted-by":"crossref","unstructured":"Khatib, O. 1986. Real-time obstacle avoidance for manipulators and mobile robots . IEEE Journal of Robotics and Automation 5(1): 90\u201398 .","DOI":"10.1177\/027836498600500106"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1080\/00207178408933260"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300206"},{"key":"atypb12","doi-asserted-by":"crossref","unstructured":"Pratt, G. A., and Williamson, M. M. 1995. Series elastic actuators . IEEE International Conference on Intelligent Robots and Systems 1: 399\u2013406 .","DOI":"10.1109\/IROS.1995.525827"},{"key":"atypb13","unstructured":"Pratt, J. E. 1994.\n                      Learning Virtual Model Control of a Biped Walking Robot.\n                      Unpublished project report, Massachusetts Institute of Technology."},{"key":"atypb14","unstructured":"Pratt, J. E. 1995.\n                      Virtual Model Control of a Biped Walking Robot.\n                      Master\u2019s thesis, Massachusetts Institute of Technology."},{"key":"atypb15","unstructured":"Pratt, J., Torres, A., Dilworth, P., and Pratt, G. 1996. Virtual actuator control . IEEE International Conference on Intelligent Robots and Systems, Osaka, Japan."},{"key":"atypb16","doi-asserted-by":"crossref","unstructured":"Raibert, M. H., and Craig, J. J. 1981. Hybrid position\/force control of manipulators . Journal of Dynamic Systems, Measurement, and Control 102: 126\u2013133 .","DOI":"10.1115\/1.3139652"},{"key":"atypb17","doi-asserted-by":"crossref","unstructured":"Salisbury, K. 1980. Active stiffness control of a manipulator in Cartesian coordinates . 19th IEEE Conference on Decision and Control, pp. 83\u201388 .","DOI":"10.1109\/CDC.1980.272026"},{"key":"atypb18","unstructured":"Torres, A. L. 1996.\n                      Implementation of Virtual Model Control on a Walking Hexapod.\n                      Undergraduate thesis, Massachusetts Institute of Technology."},{"key":"atypb19","doi-asserted-by":"crossref","unstructured":"Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D. 1990. Biped Locomotion: Dynamics, Stability, Control, and Applications. 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