{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,7]],"date-time":"2025-11-07T13:27:58Z","timestamp":1762522078763,"version":"3.38.0"},"reference-count":91,"publisher":"SAGE Publications","issue":"11","license":[{"start":{"date-parts":[[2017,9,1]],"date-time":"2017-09-01T00:00:00Z","timestamp":1504224000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2017,9]]},"abstract":"<jats:p> This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space planning and control method that includes the following key components: (i) a step transition solver that enables dynamically tracking non-periodic keyframe states over various types of terrain; (ii) a robust hybrid automaton to effectively formulate planning and control algorithms; (iii) a steering direction model to control the robot\u2019s heading; (iv) a phase-space metric to measure distance to the planned locomotion manifolds; and (v) a hybrid control method based on the previous distance metric to produce robust dynamic locomotion under external disturbances. Compared with other locomotion methodologies, we have a large focus on non-periodic gait generation and robustness metrics to deal with disturbances. This focus enables the proposed control method to track non-periodic keyframe states robustly over various challenging terrains and under external disturbances, as illustrated through several simulations. <\/jats:p>","DOI":"10.1177\/0278364917730602","type":"journal-article","created":{"date-parts":[[2017,9,23]],"date-time":"2017-09-23T04:01:23Z","timestamp":1506139283000},"page":"1211-1242","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":31,"title":["Robust optimal planning and control of non-periodic bipedal locomotion with a centroidal momentum model"],"prefix":"10.1177","volume":"36","author":[{"given":"Ye","family":"Zhao","sequence":"first","affiliation":[{"name":"Human Centered Robotics Laboratory, The University of Texas at Austin, USA"}]},{"given":"Benito R","family":"Fernandez","sequence":"additional","affiliation":[{"name":"Neuro-Engineering Research and Development Laboratory, The University of Texas at Austin, USA"}]},{"given":"Luis","family":"Sentis","sequence":"additional","affiliation":[{"name":"Human Centered Robotics Laboratory, The University of Texas at Austin, USA"}]}],"member":"179","published-online":{"date-parts":[[2017,9,22]]},"reference":[{"key":"bibr1-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570406"},{"key":"bibr2-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2178134"},{"key":"bibr3-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943129"},{"key":"bibr4-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/9.654885"},{"key":"bibr5-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363423"},{"key":"bibr6-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340446"},{"key":"bibr7-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803329"},{"key":"bibr8-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487538"},{"key":"bibr9-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.2012.6425971"},{"key":"bibr10-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041375"},{"key":"bibr11-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6943128"},{"key":"bibr12-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363501"},{"key":"bibr13-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2015.2405592"},{"key":"bibr14-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6094435"},{"key":"bibr15-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399588"},{"key":"bibr16-0278364917730602","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2014.X.028"},{"key":"bibr17-0278364917730602","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21559"},{"key":"bibr18-0278364917730602","unstructured":"Fern\u00e1ndez-Rodrguez B (1988) Control of multivariable nonlinear systems by the sliding mode method. 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