{"id":"https://openalex.org/W2005068645","doi":"https://doi.org/10.1299/jsdd.3.1","title":"Design and Construction of a Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs","display_name":"Design and Construction of a Simple 3D Straight-Legged Passive Walker with Flat Feet and Ankle Springs","publication_year":2009,"publication_date":"2009-01-01","ids":{"openalex":"https://openalex.org/W2005068645","doi":"https://doi.org/10.1299/jsdd.3.1","mag":"2005068645"},"language":"en","primary_location":{"id":"doi:10.1299/jsdd.3.1","doi":"https://doi.org/10.1299/jsdd.3.1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsdd.3.1","pdf_url":"https://www.jstage.jst.go.jp/article/jsdd/3/1/3_1_1/_pdf","source":{"id":"https://openalex.org/S163395781","display_name":"Journal of System Design and Dynamics","issn_l":"1881-3046","issn":["1881-3046"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of System Design and Dynamics","raw_type":"journal-article"},"volume":null,"type":"article","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://www.jstage.jst.go.jp/article/jsdd/3/1/3_1_1/_pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5104251240","display_name":"Terumasa NARUKAWA","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Terumasa NARUKAWA","raw_affiliation_strings":["Keio University, the School of Science for Open and Environmental System"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University, the School of Science for Open and Environmental System","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111809668","display_name":"Kazuto YOKOYAMA","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuto YOKOYAMA","raw_affiliation_strings":["Keio University, the School of Science for Open and Environmental System"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University, the School of Science for Open and Environmental System","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039641882","display_name":"Masaki Takahashi","orcid":"https://orcid.org/0000-0001-8138-041X","observed_orcids":["https://orcid.org/0000-0001-8138-041X"]},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki TAKAHASHI","raw_affiliation_strings":["Keio University, the Department of System Design Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University, the Department of System Design Engineering","institution_ids":["https://openalex.org/I203951103"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111549528","display_name":"Kazuo YOSHIDA","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I203951103","display_name":"Keio University","ror":"https://ror.org/02kn6nx58","country_code":"JP","type":"education","lineage":["https://openalex.org/I203951103"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuo YOSHIDA","raw_affiliation_strings":["Keio University, the Department of System Design Engineering"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keio University, the Department of System Design Engineering","institution_ids":["https://openalex.org/I203951103"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I203951103"],"apc_list":null,"apc_paid":null,"fwci":4.1303,"has_fulltext":true,"cited_by_count":22,"citation_normalized_percentile":{"value":0.92949066,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":97},"biblio":{"volume":"3","issue":"1","first_page":"1","last_page":"12"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":9.999999747378752e-05,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/flatfoot","display_name":"pes planus","score":0.9169999957084656},{"id":"https://openalex.org/keywords/roll-and-pitch-motion","display_name":"roll and pitch motion","score":0.7820000052452087},{"id":"https://openalex.org/keywords/spring-stiffness","display_name":"spring stiffness","score":0.7910000085830688},{"id":"https://openalex.org/keywords/legged-locomotion","display_name":"legged locomotion","score":0.6959999799728394},{"id":"https://openalex.org/keywords/walking-robot","display_name":"walking robot","score":0.3140000104904175}],"concepts":[{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.657833456993103},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6383659839630127},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4759773313999176},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47346749901771545},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3389214873313904},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.09089592099189758},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08372434973716736},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1299/jsdd.3.1","doi":"https://doi.org/10.1299/jsdd.3.1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsdd.3.1","pdf_url":"https://www.jstage.jst.go.jp/article/jsdd/3/1/3_1_1/_pdf","source":{"id":"https://openalex.org/S163395781","display_name":"Journal of System Design and Dynamics","issn_l":"1881-3046","issn":["1881-3046"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of System Design and Dynamics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1299/jsdd.3.1","doi":"https://doi.org/10.1299/jsdd.3.1","is_oa":true,"landing_page_url":"https://doi.org/10.1299/jsdd.3.1","pdf_url":"https://www.jstage.jst.go.jp/article/jsdd/3/1/3_1_1/_pdf","source":{"id":"https://openalex.org/S163395781","display_name":"Journal of System Design and Dynamics","issn_l":"1881-3046","issn":["1881-3046"],"is_oa":true,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","jufo-1"],"host_organization":"https://openalex.org/P4310313571","host_organization_name":"Japan Society Mechanical Engineers","host_organization_lineage":["https://openalex.org/P4310313571"],"host_organization_lineage_names":["Japan Society Mechanical Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of System Design and Dynamics","raw_type":"journal-article"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320912","display_name":"Ministry of Education, Culture, Sports, Science and Technology","ror":"https://ror.org/048rj2z13"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2005068645.pdf","grobid_xml":"https://content.openalex.org/works/W2005068645.grobid-xml"},"referenced_works_count":16,"referenced_works":["https://openalex.org/W37667216","https://openalex.org/W50292030","https://openalex.org/W1996763811","https://openalex.org/W1997216755","https://openalex.org/W2016102421","https://openalex.org/W2027394111","https://openalex.org/W2029058516","https://openalex.org/W2041459584","https://openalex.org/W2051287096","https://openalex.org/W2065942939","https://openalex.org/W2099447959","https://openalex.org/W2107149337","https://openalex.org/W2119105564","https://openalex.org/W2163668399","https://openalex.org/W2540660861","https://openalex.org/W2678974414"],"related_works":["https://openalex.org/W2148935321","https://openalex.org/W2321332525","https://openalex.org/W2678974414","https://openalex.org/W2705172020","https://openalex.org/W1553718620","https://openalex.org/W2080016645","https://openalex.org/W2399970084","https://openalex.org/W2180627679","https://openalex.org/W2915190569","https://openalex.org/W2587101812"],"abstract_inverted_index":{"To":[0],"date,":[1],"most":[2],"passive":[3,39,81,155],"walkers":[4,82],"have":[5],"been":[6],"designed":[7],"with":[8,30,41,83,157],"arc-shaped":[9,84],"feet":[10,43,48],"rigidly":[11],"attached":[12,63],"to":[13,51,56,64,67,116,121,123,140],"the":[14,17,31,65,87,99,103,113,128,142,145],"legs.":[15],"However,":[16],"friction":[18,55,88],"torque":[19,69,89],"against":[20,90],"yaw":[21,59,91],"is":[22,106],"often":[23],"insufficient":[24],"because":[25],"of":[26,79,127,144],"their":[27],"contact":[28],"conditions":[29],"ground.":[32],"We":[33,136],"developed":[34],"a":[35,158],"simple":[36],"3D":[37,80,153],"straight-legged":[38,114,154],"walker":[40,156],"flat":[42],"and":[44,73],"ankle":[45,66,105],"springs.":[46],"Flat":[47],"were":[49,62],"used":[50,137],"gain":[52],"enough":[53],"scrubbing":[54],"oppose":[57],"unstable":[58],"motion.":[60],"Springs":[61],"produce":[68],"resulting":[70],"in":[71,111],"roll":[72,100],"pitch":[74],"motions":[75],"that":[76,151],"mimic":[77],"those":[78],"feet,":[85],"while":[86],"should":[92],"be":[93],"sufficient.":[94],"The":[95],"spring":[96,146],"constant":[97],"for":[98],"motion":[101],"at":[102,167],"stance":[104],"obviously":[107],"an":[108],"important":[109],"factor":[110],"enabling":[112],"robot":[115],"rock":[117],"adequately":[118],"from":[119],"side":[120,122],"avoid":[124],"problematic":[125],"scuffing":[126],"swing":[129,134],"leg":[130,160],"so":[131],"it":[132],"can":[133,161],"forward.":[135],"numerical":[138],"simulations":[139],"determine":[141],"value":[143],"constant.":[147],"Experimental":[148],"results":[149],"indicated":[150],"our":[152],"0.77-m":[159],"walk":[162],"more":[163],"than":[164],"2":[165],"m":[166],"about":[168],"0.46":[169],"m/s.":[170]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-11-01T11:40:01.658920","created_date":"2016-06-24T00:00:00"}