{"id":"https://openalex.org/W2113647903","doi":"https://doi.org/10.1016/j.jtbi.2005.04.004","title":"A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition","display_name":"A collisional model of the energetic cost of support work qualitatively explains leg sequencing in walking and galloping, pseudo-elastic leg behavior in running and the walk-to-run transition","publication_year":2005,"publication_date":"2005-06-15","ids":{"openalex":"https://openalex.org/W2113647903","doi":"https://doi.org/10.1016/j.jtbi.2005.04.004","mag":"2113647903","pmid":"https://pubmed.ncbi.nlm.nih.gov/15961114"},"language":"en","primary_location":{"id":"doi:10.1016/j.jtbi.2005.04.004","doi":"https://doi.org/10.1016/j.jtbi.2005.04.004","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jtbi.2005.04.004","pdf_url":null,"source":{"id":"https://openalex.org/S109682412","display_name":"Journal of Theoretical Biology","issn_l":"0022-5193","issn":["0022-5193","1095-8541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","doyens","jufo-2","ki-jl-1","medline","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Theoretical Biology","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref","pubmed"],"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/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":true,"raw_author_name":"Andy Ruina","raw_affiliation_strings":["Theoretical and Applied Mechanics, Cornell University, Ithaca, NY 14853, USA. ruina@cornell.edu","Theoretical and Applied Mechanics, Cornell University, Ithaca, NY - 14853 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Theoretical and Applied Mechanics, Cornell University, Ithaca, NY 14853, USA. ruina@cornell.edu","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Theoretical and Applied Mechanics, Cornell University, Ithaca, NY - 14853 USA","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012993605","display_name":"John E. A. Bertram","orcid":"https://orcid.org/0000-0001-5943-7184","observed_orcids":["https://orcid.org/0000-0001-5943-7184"]},"institutions":[{"id":"https://openalex.org/I168635309","display_name":"University of Calgary","ror":"https://ror.org/03yjb2x39","country_code":"CA","type":"education","lineage":["https://openalex.org/I168635309"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"John E.A. Bertram","raw_affiliation_strings":["Cell Biology and Anatomy, Faculty of Medicine, University of Calgary, Alta., Canada T2N4N1"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cell Biology and Anatomy, Faculty of Medicine, University of Calgary, Alta., Canada T2N4N1","institution_ids":["https://openalex.org/I168635309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062283980","display_name":"Manoj Srinivasan","orcid":"https://orcid.org/0000-0002-7811-3617","observed_orcids":["https://orcid.org/0000-0002-7811-3617"]},"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":"Manoj Srinivasan","raw_affiliation_strings":["Theoretical and Applied Mechanics, Cornell University, Ithaca, NY 14853, USA","Theoretical and Applied Mechanics, Cornell University, Ithaca, NY - 14853 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Theoretical and Applied Mechanics, Cornell University, Ithaca, NY 14853, USA","institution_ids":["https://openalex.org/I205783295"]},{"raw_affiliation_string":"Theoretical and Applied Mechanics, Cornell University, Ithaca, NY - 14853 USA","institution_ids":["https://openalex.org/I205783295"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5085239300"],"corresponding_institution_ids":["https://openalex.org/I205783295"],"apc_list":{"value":2550,"currency":"USD","value_usd":2550},"apc_paid":null,"fwci":11.8053,"has_fulltext":false,"cited_by_count":433,"citation_normalized_percentile":{"value":0.99083927,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"237","issue":"2","first_page":"170","last_page":"192"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"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":0.9970999956130981,"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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.00139999995008111,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.0005000000237487257,"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/legged-locomotion","display_name":"legged locomotion","score":0.8539999723434448},{"id":"https://openalex.org/keywords/collision-model","display_name":"collision model","score":0.7160000205039978},{"id":"https://openalex.org/keywords/support-work","display_name":"support work","score":0.6520000100135803},{"id":"https://openalex.org/keywords/galloping","display_name":"galloping","score":0.7730000019073486},{"id":"https://openalex.org/keywords/walking","display_name":"walking","score":0.5989999771118164},{"id":"https://openalex.org/keywords/running","display_name":"running","score":0.8799999952316284},{"id":"https://openalex.org/keywords/walk-to-run-transition","display_name":"walk-to-run transition","score":0.8180000185966492},{"id":"https://openalex.org/keywords/froude-number","display_name":"Froude number","score":0.7760000228881836},{"id":"https://openalex.org/keywords/metabolic-cost","display_name":"metabolic cost","score":0.7009999752044678},{"id":"https://openalex.org/keywords/muscular-work","display_name":"muscle work","score":0.7730000019073486},{"id":"https://openalex.org/keywords/point-mass-model","display_name":"point mass model","score":0.8040000200271606},{"id":"https://openalex.org/keywords/heel-strike","display_name":"heel strike","score":0.578000009059906},{"id":"https://openalex.org/keywords/push-off","display_name":"push-off","score":0.8399999737739563}],"concepts":[{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.7200598120689392},{"id":"https://openalex.org/C206835866","wikidata":"https://www.wikidata.org/wiki/Q273090","display_name":"Froude number","level":3,"score":0.7159613370895386},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5153395533561707},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5087962746620178},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.47143545746803284},{"id":"https://openalex.org/C3019295976","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Leg muscle","level":2,"score":0.4559233486652374},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.43956220149993896},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.42111632227897644},{"id":"https://openalex.org/C2991809073","wikidata":"https://www.wikidata.org/wiki/Q240673","display_name":"Metabolic cost","level":2,"score":0.4186256527900696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4174628257751465},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3928649127483368},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3613172471523285},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.14094966650009155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08968368172645569},{"id":"https://openalex.org/C2777871205","wikidata":"https://www.wikidata.org/wiki/Q100926628","display_name":"Breakup","level":2,"score":0.0},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D004734","descriptor_name":"Energy Metabolism","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005684","descriptor_name":"Gait","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D006801","descriptor_name":"Humans","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D007866","descriptor_name":"Leg","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014937","descriptor_name":"Work","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014937","descriptor_name":"Work","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D014937","descriptor_name":"Work","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D018482","descriptor_name":"Muscle, Skeletal","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1016/j.jtbi.2005.04.004","doi":"https://doi.org/10.1016/j.jtbi.2005.04.004","is_oa":false,"landing_page_url":"https://doi.org/10.1016/j.jtbi.2005.04.004","pdf_url":null,"source":{"id":"https://openalex.org/S109682412","display_name":"Journal of Theoretical Biology","issn_l":"0022-5193","issn":["0022-5193","1095-8541"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["anvur-scientific","cwts-core","dongbi-b","doyens","jufo-2","ki-jl-1","medline","norway-1","poland-70","russia-white-list-1","vabb-shw"],"host_organization":"https://openalex.org/P4310320990","host_organization_name":"Elsevier BV","host_organization_lineage":["https://openalex.org/P4310320990"],"host_organization_lineage_names":["Elsevier BV"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Theoretical Biology","raw_type":"journal-article"},{"id":"pmid:15961114","doi":null,"is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/15961114","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of theoretical biology","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":65,"referenced_works":["https://openalex.org/W142257515","https://openalex.org/W1500355189","https://openalex.org/W1590827716","https://openalex.org/W1602436038","https://openalex.org/W1608165026","https://openalex.org/W1626229989","https://openalex.org/W1874450194","https://openalex.org/W1928339028","https://openalex.org/W1968618465","https://openalex.org/W1969329479","https://openalex.org/W1978862396","https://openalex.org/W1990047283","https://openalex.org/W1992559929","https://openalex.org/W1996763811","https://openalex.org/W2008342119","https://openalex.org/W2009399004","https://openalex.org/W2010026582","https://openalex.org/W2016102421","https://openalex.org/W2027394111","https://openalex.org/W2029058516","https://openalex.org/W2029294123","https://openalex.org/W2046850476","https://openalex.org/W2049904216","https://openalex.org/W2050158673","https://openalex.org/W2058417492","https://openalex.org/W2069782733","https://openalex.org/W2074040233","https://openalex.org/W2074321229","https://openalex.org/W2080826208","https://openalex.org/W2081115468","https://openalex.org/W2089359955","https://openalex.org/W2090373601","https://openalex.org/W2096836513","https://openalex.org/W2099701139","https://openalex.org/W2101130318","https://openalex.org/W2102842229","https://openalex.org/W2105637477","https://openalex.org/W2109196213","https://openalex.org/W2111364616","https://openalex.org/W2127149049","https://openalex.org/W2133108022","https://openalex.org/W2139471973","https://openalex.org/W2156304253","https://openalex.org/W2157826678","https://openalex.org/W2161427949","https://openalex.org/W2162167832","https://openalex.org/W2163668399","https://openalex.org/W2167010174","https://openalex.org/W2167463516","https://openalex.org/W2186033507","https://openalex.org/W2257898290","https://openalex.org/W2315695414","https://openalex.org/W2317398674","https://openalex.org/W2324830312","https://openalex.org/W2341903133","https://openalex.org/W2411735118","https://openalex.org/W2479735883","https://openalex.org/W2499876344","https://openalex.org/W2798404144","https://openalex.org/W2914067738","https://openalex.org/W4252000167","https://openalex.org/W6636392012","https://openalex.org/W6639175280","https://openalex.org/W6673209918","https://openalex.org/W6703731449"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W4310349471","https://openalex.org/W2124637349","https://openalex.org/W2034796419","https://openalex.org/W2611335531","https://openalex.org/W2029276064","https://openalex.org/W2085559128","https://openalex.org/W2096920628","https://openalex.org/W2916348691","https://openalex.org/W2136975616"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":10},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":17},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":40},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":32},{"year":2015,"cited_by_count":22},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":26},{"year":2012,"cited_by_count":21}],"updated_date":"2026-10-12T09:40:04.860316","created_date":"2025-10-10T00:00:00"}