{"id":"https://openalex.org/W2107149337","doi":"https://doi.org/10.1109/robot.2005.1570404","title":"A Bipedal Walking Robot with Efficient and Human-Like Gait","display_name":"A Bipedal Walking Robot with Efficient and Human-Like Gait","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2107149337","doi":"https://doi.org/10.1109/robot.2005.1570404","mag":"2107149337"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570404","doi":"https://doi.org/10.1109/robot.2005.1570404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570404","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","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/A5037382800","display_name":"Steven H. Collins","orcid":"https://orcid.org/0000-0002-3997-3374","observed_orcids":["https://orcid.org/0000-0002-3997-3374"]},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.H. Collins","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","Dept. of Mechanical Engineering University of Michigan Ann Arbor, MI 48109 shc@umich.edu"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI, USA","institution_ids":["https://openalex.org/I27837315"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering University of Michigan Ann Arbor, MI 48109 shc@umich.edu","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085239300","display_name":"Andy L. Ruina","orcid":"https://orcid.org/0000-0001-5493-6048","observed_orcids":["https://orcid.org/0000-0001-5493-6048"]},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Ruina","raw_affiliation_strings":["Theoretical and Applied Mechanics, Cornell University, Ithaca, NY, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Theoretical and Applied Mechanics, Cornell University, Ithaca, NY, USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":67.2939,"has_fulltext":false,"cited_by_count":385,"citation_normalized_percentile":{"value":0.99992811,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1983","last_page":"1988"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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"}},{"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bipedal-robot","display_name":"biped robot","score":0.9900000095367432},{"id":"https://openalex.org/keywords/passive-dynamics","display_name":"passive dynamics","score":0.8360000252723694},{"id":"https://openalex.org/keywords/autonomous-robots","display_name":"autonomous robots","score":0.47600001096725464},{"id":"https://openalex.org/keywords/energy-efficient-locomotion","display_name":"energy-efficient locomotion","score":0.6959999799728394},{"id":"https://openalex.org/keywords/lateral-stability","display_name":"lateral stability","score":0.9829999804496765},{"id":"https://openalex.org/keywords/robot-control-algorithms","display_name":"robot control algorithms","score":0.6489999890327454}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7622388601303101},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6201083660125732},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6164788603782654},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6136268377304077},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6023567318916321},{"id":"https://openalex.org/C2779795794","wikidata":"https://www.wikidata.org/wiki/Q7315343","display_name":"Reset (finance)","level":2,"score":0.4265854060649872},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4209350049495697},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41845065355300903},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.320000022649765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.31892168521881104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30122271180152893},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24913474917411804},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13140535354614258},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06651356816291809},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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/C106159729","wikidata":"https://www.wikidata.org/wiki/Q2294553","display_name":"Financial economics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2005.1570404","doi":"https://doi.org/10.1109/robot.2005.1570404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570404","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.207.8721","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.207.8721","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.andrew.cmu.edu/user/shc17/Collins_2005_ICRA.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.88.4544","doi":null,"is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.88.4544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/papers/efficient_bipedal_robots/bipedal_walking_robot_cornell.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"display_name":"Sustainable cities and communities","score":0.4000000059604645,"id":"https://metadata.un.org/sdg/11"}],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W200600042","https://openalex.org/W1577462537","https://openalex.org/W1589503602","https://openalex.org/W1686197137","https://openalex.org/W1829015105","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W2029058516","https://openalex.org/W2041459584","https://openalex.org/W2095858841","https://openalex.org/W2113647903","https://openalex.org/W2127149049","https://openalex.org/W2134581541","https://openalex.org/W2163668399","https://openalex.org/W2321476073","https://openalex.org/W2765794012","https://openalex.org/W6634671218"],"related_works":["https://openalex.org/W2653518175","https://openalex.org/W2663581286","https://openalex.org/W2152781617","https://openalex.org/W2133990634","https://openalex.org/W750454073","https://openalex.org/W1938258084","https://openalex.org/W7056632015","https://openalex.org/W2029058516","https://openalex.org/W1967328023","https://openalex.org/W2316841555"],"abstract_inverted_index":{"Here":[0],"we":[1],"present":[2],"the":[3,33,51,71,91,106],"design":[4,113],"of":[5,50,78,90],"a":[6,54],"passive-dynamics":[7],"based,":[8],"fully":[9],"autonomous,":[10],"3-D,":[11],"bipedal":[12],"walking":[13,93,114],"robot":[14,80,92,102],"that":[15,63,108,116],"uses":[16],"simple":[17,72],"control,":[18],"consumes":[19],"little":[20],"energy,":[21],"and":[22,26,58,70,88,99,121],"has":[23],"human-like":[24],"morphology":[25],"gait.":[27],"Design":[28],"aspects":[29],"covered":[30],"here":[31],"include":[32],"freely":[34,42],"rotating":[35,43],"hip":[36],"joint":[37],"with":[38,46,53],"angle":[39],"bisecting":[40],"mechanism;":[41],"knee":[44],"joints":[45],"latches;":[47],"direct":[48],"actuation":[49],"ankles":[52],"spring,":[55],"release":[56],"mechanism,":[57],"reset":[59],"motor;":[60],"wide":[61],"feet":[62],"are":[64,94,117],"shaped":[65],"to":[66,105,123],"aid":[67],"lateral":[68],"stability;":[69],"control":[73],"algorithm.":[74],"The":[75],"biomechanics":[76],"context":[77],"this":[79],"is":[81],"discussed":[82],"in":[83,86],"more":[84,119],"detail":[85],"[1],":[87],"movies":[89],"available":[95],"at":[96],"Science":[97],"Online":[98],"http://www.tam.cornell.edu/~ruina/powerwalk.html.":[100],"This":[101],"adds":[103],"evidence":[104],"idea":[107],"passive-dynamic":[109],"approaches":[110],"might":[111],"help":[112],"robots":[115],"simpler,":[118],"efficient":[120],"easier":[122],"control.":[124]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":23},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":18},{"year":2014,"cited_by_count":20},{"year":2013,"cited_by_count":19},{"year":2012,"cited_by_count":32}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}
