{"id":"https://openalex.org/W1832138326","doi":"https://doi.org/10.1007/3-540-26415-9_25","title":"Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts","display_name":"Complete Stability Analysis of a Control Law for Walking Robots with Non-permanent Contacts","publication_year":2006,"publication_date":"2006-01-01","ids":{"openalex":"https://openalex.org/W1832138326","doi":"https://doi.org/10.1007/3-540-26415-9_25","mag":"1832138326"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-26415-9_25","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-26415-9_25","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Climbing and Walking Robots","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/inria-00390419","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5027156326","display_name":"Sophie Chareyron","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Sophie Chareyron","raw_affiliation_strings":["ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l\u2019Europe-Montbonnot, 38335, Saint Ismier Cedex","ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l'Europe-Montbonnot, 38335, Saint Ismier Cedex"],"affiliations":[{"raw_affiliation_string":"ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l\u2019Europe-Montbonnot, 38335, Saint Ismier Cedex","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l'Europe-Montbonnot, 38335, Saint Ismier Cedex","institution_ids":["https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057770359","display_name":"Pierre-Brice Wieber","orcid":"https://orcid.org/0000-0002-5106-929X"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre-Brice Wieber","raw_affiliation_strings":["ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l\u2019Europe-Montbonnot, 38335, Saint Ismier Cedex","ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l'Europe-Montbonnot, 38335, Saint Ismier Cedex"],"affiliations":[{"raw_affiliation_string":"ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l\u2019Europe-Montbonnot, 38335, Saint Ismier Cedex","institution_ids":["https://openalex.org/I1326498283"]},{"raw_affiliation_string":"ZIRST, INRIA Rh\u00e2ne-Alpes, 655 avenue de l'Europe-Montbonnot, 38335, Saint Ismier Cedex","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027156326"],"corresponding_institution_ids":["https://openalex.org/I1326498283"],"apc_list":null,"apc_paid":null,"fwci":1.1573,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.82693559,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"213","last_page":"220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9959999918937683,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9904999732971191,"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/stability","display_name":"Stability (learning theory)","score":0.675123393535614},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6441076993942261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6033467650413513},{"id":"https://openalex.org/keywords/lyapunov-stability","display_name":"Lyapunov stability","score":0.5648590326309204},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.48737436532974243},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4804817736148834},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.4774627983570099},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44188961386680603},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4384637176990509},{"id":"https://openalex.org/keywords/lagrangian","display_name":"Lagrangian","score":0.4274398982524872},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4213936924934387},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34664952754974365},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.25775396823883057},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13319605588912964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12871423363685608},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.09817516803741455},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06649422645568848}],"concepts":[{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.675123393535614},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6441076993942261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6033467650413513},{"id":"https://openalex.org/C2776829284","wikidata":"https://www.wikidata.org/wiki/Q1341651","display_name":"Lyapunov stability","level":3,"score":0.5648590326309204},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.48737436532974243},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4804817736148834},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.4774627983570099},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44188961386680603},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4384637176990509},{"id":"https://openalex.org/C53469067","wikidata":"https://www.wikidata.org/wiki/Q505735","display_name":"Lagrangian","level":2,"score":0.4274398982524872},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4213936924934387},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34664952754974365},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.25775396823883057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13319605588912964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12871423363685608},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.09817516803741455},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06649422645568848},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/3-540-26415-9_25","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-26415-9_25","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Climbing and Walking Robots","raw_type":"book-chapter"},{"id":"pmh:oai:HAL:inria-00390419v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390419","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Climbing and Walking Robots, 2005, London, United Kingdom","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:inria-00390419v1","is_oa":true,"landing_page_url":"https://inria.hal.science/inria-00390419","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"International Conference on Climbing and Walking Robots, 2005, London, United Kingdom","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W169811275","https://openalex.org/W1498430137","https://openalex.org/W1553702074","https://openalex.org/W1589352600","https://openalex.org/W1968047062","https://openalex.org/W2072613078","https://openalex.org/W2083943372","https://openalex.org/W2095829696","https://openalex.org/W2097032197","https://openalex.org/W2128131727","https://openalex.org/W2129231075","https://openalex.org/W2566720177","https://openalex.org/W3159080547"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W2752454479","https://openalex.org/W2336825631","https://openalex.org/W3171631314","https://openalex.org/W2606825221","https://openalex.org/W2064245428","https://openalex.org/W2210722882","https://openalex.org/W2534107666","https://openalex.org/W2117933783","https://openalex.org/W2560479139"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}