{"id":"https://openalex.org/W2550222358","doi":"https://doi.org/10.1109/urai.2016.7734010","title":"Investigation of a non-anthropomorphic bipedal robot with stability, agility, and simplicity","display_name":"Investigation of a non-anthropomorphic bipedal robot with stability, agility, and simplicity","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2550222358","doi":"https://doi.org/10.1109/urai.2016.7734010","mag":"2550222358"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034073073","display_name":"Jeffrey Yu","orcid":null},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Yu","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010217935","display_name":"Joshua Hooks","orcid":"https://orcid.org/0000-0002-0933-5013"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"funder","lineage":["https://openalex.org/I161318765"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joshua Hooks","raw_affiliation_strings":["University of California Los Angeles, Los Angeles, CA, US"],"affiliations":[{"raw_affiliation_string":"University of California Los Angeles, Los Angeles, CA, US","institution_ids":["https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037938034","display_name":"Sepehr Ghassemi","orcid":null},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sepehr Ghassemi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084362123","display_name":"Alexandra Pogue","orcid":null},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexandra Pogue","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.541,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":8,"citation_normalized_percentile":{"value":0.703437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":84,"max":85},"biblio":{"volume":null,"issue":null,"first_page":"11","last_page":"15"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.991,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9847,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness","score":0.64780647},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5136222}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6940352},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.64780647},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.636883},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.53417754},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.52868384},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5189759},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5136222},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49398357},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46663457},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.410769},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3898151},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36146075},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32541025},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3205255},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27168757},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23339754},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0921101},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734010","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":11,"referenced_works":["https://openalex.org/W2065858147","https://openalex.org/W2092648842","https://openalex.org/W2111253117","https://openalex.org/W2116411507","https://openalex.org/W2120693140","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2139255095","https://openalex.org/W2142992961","https://openalex.org/W2157822824","https://openalex.org/W566530810"],"related_works":["https://openalex.org/W2992410780","https://openalex.org/W2587293874","https://openalex.org/W2247043290","https://openalex.org/W2186177376","https://openalex.org/W2167792456","https://openalex.org/W2145765739","https://openalex.org/W205041164","https://openalex.org/W2025415230","https://openalex.org/W2015066907","https://openalex.org/W1999790077"],"abstract_inverted_index":{"This":[0,32],"paper":[1],"presents":[2],"a":[3,53,65,126,133,140],"novel":[4,77],"bipedal":[5,41],"robot":[6,102],"concept":[7],"and":[8,24,30,51,76,92,132],"prototype":[9],"that":[10,19],"takes":[11],"inspiration":[12],"from":[13],"humanoids":[14],"but":[15,67],"features":[16],"fundamental":[17],"differences":[18],"drastically":[20],"improve":[21],"its":[22,28,73],"agility":[23],"stability":[25,91],"while":[26],"reducing":[27],"complexity":[29],"cost.":[31],"Non-Anthropomorphic":[33],"Bipedal":[34],"Robotic":[35],"System":[36],"(NABiRoS)":[37],"modifies":[38],"the":[39,45,48,56,83,90,98,101],"traditional":[40],"form":[42],"by":[43],"aligning":[44],"legs":[46],"in":[47,62,89],"sagittal":[49],"plane":[50],"adding":[52],"compliance":[54],"to":[55,64,103,116,122],"feet.":[57],"The":[58,80],"platform":[59],"is":[60],"comparable":[61],"height":[63],"human,":[66],"weighs":[68],"much":[69],"less":[70],"because":[71],"of":[72,82,94,120,136],"lightweight":[74],"architecture":[75],"leg":[78],"configuration.":[79],"inclusion":[81],"compliant":[84],"element":[85],"showed":[86],"immense":[87],"improvements":[88],"robustness":[93],"walking":[95,118],"gaits":[96],"on":[97],"prototype,":[99],"allowing":[100],"remain":[104],"stable":[105],"during":[106],"locomotion":[107],"without":[108],"any":[109],"inertial":[110],"feedback":[111],"control.":[112],"NABiRoS":[113],"was":[114],"able":[115],"achieve":[117],"speeds":[119],"up":[121],"0.75km/h":[123],"(0.21m/s)":[124],"using":[125],"simple":[127],"pre-processed":[128],"ZMP":[129],"based":[130],"gait":[131],"positioning":[134],"accuracy":[135],"+/\u2212":[137],"0.04m":[138],"with":[139],"preprocessed":[141],"quasi-static":[142],"algorithm.":[143]},"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2550222358","counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-04-21T22:42:14.439932","created_date":"2016-11-30"}