{"id":"https://openalex.org/W2040499411","doi":"https://doi.org/10.1007/s00422-001-0300-3","title":"Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects","display_name":"Dynamics and stability of legged locomotion in the horizontal plane: a test case using insects","publication_year":2002,"publication_date":"2002-05-01","ids":{"openalex":"https://openalex.org/W2040499411","doi":"https://doi.org/10.1007/s00422-001-0300-3","mag":"2040499411","pmid":"https://pubmed.ncbi.nlm.nih.gov/11984649"},"language":"en","primary_location":{"id":"doi:10.1007/s00422-001-0300-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00422-001-0300-3","pdf_url":null,"source":{"id":"https://openalex.org/S87357125","display_name":"Biological Cybernetics","issn_l":"0340-1200","issn":["0340-1200","1432-0770"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Biological Cybernetics","raw_type":"journal-article"},"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/A5062233624","display_name":"John Schmitt","orcid":"https://orcid.org/0000-0002-9137-9540"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J. Schmitt","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Princeton University, NJ 08544, USA","Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, NJ 08544, USA","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113896010","display_name":"Mariano Matilla Garc\u00eda","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100046","display_name":"Integra (United States)","ror":"https://ror.org/00ynqbp15","country_code":"US","type":"company","lineage":["https://openalex.org/I4210100046"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. Garcia","raw_affiliation_strings":["Department of Integrative Biology, University of California, Berkeley, CA 94720, USA, , , , , , US","Department of Integrative Biology,  University of California,  Berkeley, CA 94720, USA, , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Integrative Biology, University of California, Berkeley, CA 94720, USA, , , , , , US","institution_ids":["https://openalex.org/I95457486","https://openalex.org/I4210100046"]},{"raw_affiliation_string":"Department of Integrative Biology,  University of California,  Berkeley, CA 94720, USA, , US","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036781797","display_name":"R. C. Razo","orcid":null},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. C. Razo","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , , , , , US","Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , , , , , US","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053868357","display_name":"Philip Holmes","orcid":"https://orcid.org/0000-0002-1459-7157"},"institutions":[{"id":"https://openalex.org/I20089843","display_name":"Princeton University","ror":"https://ror.org/00hx57361","country_code":"US","type":"education","lineage":["https://openalex.org/I20089843"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Holmes","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , , , , , US","Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , , , , , US","institution_ids":["https://openalex.org/I20089843"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544, USA, , US","institution_ids":["https://openalex.org/I20089843"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5006243281","display_name":"Robert J. Full","orcid":"https://orcid.org/0000-0001-8435-5279"},"institutions":[{"id":"https://openalex.org/I4210100046","display_name":"Integra (United States)","ror":"https://ror.org/00ynqbp15","country_code":"US","type":"company","lineage":["https://openalex.org/I4210100046"]},{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. J. Full","raw_affiliation_strings":["Department of Integrative Biology, University of California, Berkeley, CA 94720, USA, , , , , , US","Department of Integrative Biology,  University of California,  Berkeley, CA 94720, USA, , US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Integrative Biology, University of California, Berkeley, CA 94720, USA, , , , , , US","institution_ids":["https://openalex.org/I95457486","https://openalex.org/I4210100046"]},{"raw_affiliation_string":"Department of Integrative Biology,  University of California,  Berkeley, CA 94720, USA, , US","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2790,"currency":"EUR","value_usd":3590},"apc_paid":null,"fwci":6.8873,"has_fulltext":false,"cited_by_count":131,"citation_normalized_percentile":{"value":0.97406626,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"86","issue":"5","first_page":"343","last_page":"353"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10702","display_name":"Insect and Arachnid Ecology and Behavior","score":0.9740999937057495,"subfield":{"id":"https://openalex.org/subfields/1311","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.6908139586448669},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.635427713394165},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.6144536733627319},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5931034684181213},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.5785553455352783},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5271898508071899},{"id":"https://openalex.org/keywords/inclined-plane","display_name":"Inclined plane","score":0.487310528755188},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.4847097396850586},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47591644525527954},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46809864044189453},{"id":"https://openalex.org/keywords/plane","display_name":"Plane (geometry)","score":0.44832485914230347},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.44573286175727844},{"id":"https://openalex.org/keywords/horizontal-plane","display_name":"Horizontal plane","score":0.4246752858161926},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4213855564594269},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.41631826758384705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3883676826953888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.38723334670066833},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.37722247838974},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.36936551332473755},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.3024049997329712},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28815481066703796},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24771064519882202},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22082746028900146},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.18750405311584473},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.125904381275177},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09934878349304199},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09306555986404419}],"concepts":[{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.6908139586448669},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.635427713394165},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.6144536733627319},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5931034684181213},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.5785553455352783},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5271898508071899},{"id":"https://openalex.org/C111808769","wikidata":"https://www.wikidata.org/wiki/Q161462","display_name":"Inclined plane","level":2,"score":0.487310528755188},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.4847097396850586},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47591644525527954},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46809864044189453},{"id":"https://openalex.org/C17825722","wikidata":"https://www.wikidata.org/wiki/Q17285","display_name":"Plane (geometry)","level":2,"score":0.44832485914230347},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.44573286175727844},{"id":"https://openalex.org/C37222873","wikidata":"https://www.wikidata.org/wiki/Q17027571","display_name":"Horizontal plane","level":2,"score":0.4246752858161926},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4213855564594269},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.41631826758384705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3883676826953888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.38723334670066833},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.37722247838974},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.36936551332473755},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.3024049997329712},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28815481066703796},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24771064519882202},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22082746028900146},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.18750405311584473},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.125904381275177},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09934878349304199},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09306555986404419},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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":"D003058","descriptor_name":"Cockroaches","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D003058","descriptor_name":"Cockroaches","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D003058","descriptor_name":"Cockroaches","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005121","descriptor_name":"Extremities","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005121","descriptor_name":"Extremities","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D005121","descriptor_name":"Extremities","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":"D005684","descriptor_name":"Gait","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":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false},{"descriptor_ui":"D012420","descriptor_name":"Running","qualifier_ui":"Q000502","qualifier_name":"physiology","is_major_topic":false}],"locations_count":2,"locations":[{"id":"doi:10.1007/s00422-001-0300-3","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s00422-001-0300-3","pdf_url":null,"source":{"id":"https://openalex.org/S87357125","display_name":"Biological Cybernetics","issn_l":"0340-1200","issn":["0340-1200","1432-0770"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Biological Cybernetics","raw_type":"journal-article"},{"id":"pmid:11984649","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/11984649","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,"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":"Biological cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W69586344","https://openalex.org/W1577806554","https://openalex.org/W1806025462","https://openalex.org/W1970182820","https://openalex.org/W2005295908","https://openalex.org/W2010026582","https://openalex.org/W2075135730","https://openalex.org/W2089876099","https://openalex.org/W2097207536","https://openalex.org/W2098179188","https://openalex.org/W2105939440","https://openalex.org/W2111011296","https://openalex.org/W2113111527","https://openalex.org/W2129224530","https://openalex.org/W2135557503","https://openalex.org/W2141012854","https://openalex.org/W2142532796","https://openalex.org/W2157826678","https://openalex.org/W2163159836","https://openalex.org/W2165529265","https://openalex.org/W2168259293","https://openalex.org/W2254393905"],"related_works":["https://openalex.org/W1547662599","https://openalex.org/W4233673530","https://openalex.org/W2329279984","https://openalex.org/W1976207657","https://openalex.org/W631019632","https://openalex.org/W2115700596","https://openalex.org/W3143035111","https://openalex.org/W2372605203","https://openalex.org/W2057788804","https://openalex.org/W4255360304"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":5},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":8}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2025-10-10T00:00:00"}
