{"id":"https://openalex.org/W2064184477","doi":"https://doi.org/10.1007/s10846-010-9524-6","title":"A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot\u2019s Parameters for the Existence of Stable Walking Cycles","display_name":"A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot\u2019s Parameters for the Existence of Stable Walking Cycles","publication_year":2011,"publication_date":"2011-01-17","ids":{"openalex":"https://openalex.org/W2064184477","doi":"https://doi.org/10.1007/s10846-010-9524-6","mag":"2064184477"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-010-9524-6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-010-9524-6","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://americanae.aecid.es/americanae/es/registros/registro.do?tipoRegistro=MTD&idBib=3334988","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065328938","display_name":"Paul Vallejos","orcid":"https://orcid.org/0000-0001-7627-6984"},"institutions":[{"id":"https://openalex.org/I189977406","display_name":"Universidad de Los Andes, Chile","ror":"https://ror.org/03v0qd864","country_code":"CL","type":"education","lineage":["https://openalex.org/I189977406"]},{"id":"https://openalex.org/I69737025","display_name":"University of Chile","ror":"https://ror.org/047gc3g35","country_code":"CL","type":"education","lineage":["https://openalex.org/I69737025"]}],"countries":["CL"],"is_corresponding":true,"raw_author_name":"Paul Vallejos","raw_affiliation_strings":["Advanced Mining Technology Center, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Mining Technology Center, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","institution_ids":["https://openalex.org/I189977406"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","institution_ids":["https://openalex.org/I69737025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048448415","display_name":"Javier Ru\u00edz-del-Solar","orcid":"https://orcid.org/0000-0003-2965-633X"},"institutions":[{"id":"https://openalex.org/I189977406","display_name":"Universidad de Los Andes, Chile","ror":"https://ror.org/03v0qd864","country_code":"CL","type":"education","lineage":["https://openalex.org/I189977406"]},{"id":"https://openalex.org/I69737025","display_name":"University of Chile","ror":"https://ror.org/047gc3g35","country_code":"CL","type":"education","lineage":["https://openalex.org/I69737025"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Javier Ruiz-del-Solar","raw_affiliation_strings":["Advanced Mining Technology Center, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Mining Technology Center, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","institution_ids":["https://openalex.org/I189977406"]},{"raw_affiliation_string":"Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","institution_ids":["https://openalex.org/I69737025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048544616","display_name":"Francisco Swett","orcid":null},"institutions":[{"id":"https://openalex.org/I69737025","display_name":"University of Chile","ror":"https://ror.org/047gc3g35","country_code":"CL","type":"education","lineage":["https://openalex.org/I69737025"]}],"countries":["CL"],"is_corresponding":false,"raw_author_name":"Francisco Swett","raw_affiliation_strings":["Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Universidad de Chile, Av. Tupper 2007, Santiago, 837-0451, Chile","institution_ids":["https://openalex.org/I69737025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5065328938"],"corresponding_institution_ids":["https://openalex.org/I189977406","https://openalex.org/I69737025"],"apc_list":{"value":2990,"currency":"USD","value_usd":2990},"apc_paid":null,"fwci":0.1845,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.55927346,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"63","issue":"3-4","first_page":"503","last_page":"523"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9991000294685364,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.7171329855918884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5254734754562378},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5100082159042358},{"id":"https://openalex.org/keywords/linear-subspace","display_name":"Linear subspace","score":0.49250540137290955},{"id":"https://openalex.org/keywords/discretization","display_name":"Discretization","score":0.4376554489135742},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.42448538541793823},{"id":"https://openalex.org/keywords/aliasing","display_name":"Aliasing","score":0.4189559817314148},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4031769335269928},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3228398859500885},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2419126033782959}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7171329855918884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5254734754562378},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5100082159042358},{"id":"https://openalex.org/C12362212","wikidata":"https://www.wikidata.org/wiki/Q728435","display_name":"Linear subspace","level":2,"score":0.49250540137290955},{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.4376554489135742},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.42448538541793823},{"id":"https://openalex.org/C4069607","wikidata":"https://www.wikidata.org/wiki/Q868732","display_name":"Aliasing","level":3,"score":0.4189559817314148},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4031769335269928},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3228398859500885},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2419126033782959},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C136536468","wikidata":"https://www.wikidata.org/wiki/Q1225894","display_name":"Undersampling","level":2,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1007/s10846-010-9524-6","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10846-010-9524-6","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"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":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:americanae.aecid.es:3334988","is_oa":true,"landing_page_url":"http://americanae.aecid.es/americanae/es/registros/registro.do?tipoRegistro=MTD&idBib=3334988","pdf_url":null,"source":{"id":"https://openalex.org/S4306400786","display_name":"Americanae (AECID Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:americanae.aecid.es:3334989","is_oa":true,"landing_page_url":"http://americanae.aecid.es/americanae/es/registros/registro.do?tipoRegistro=MTD&idBib=3334989","pdf_url":null,"source":{"id":"https://openalex.org/S4306400786","display_name":"Americanae (AECID Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:localhost:10533/128110","is_oa":true,"landing_page_url":"http://hdl.handle.net/10533/128110","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"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":"JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:localhost:10533/128111","is_oa":true,"landing_page_url":"http://hdl.handle.net/10533/128111","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"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":"JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:repositorio.uchile.cl:2250/125715","is_oa":false,"landing_page_url":"https://repositorio.uchile.cl/handle/2250/125715","pdf_url":null,"source":{"id":"https://openalex.org/S4306481413","display_name":"Universidad de Chile","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo de revista"},{"id":"pmh:oai:repositorio.uchile.cl:2250/125858","is_oa":true,"landing_page_url":"https://repositorio.uchile.cl/handle/2250/125858","pdf_url":null,"source":{"id":"https://openalex.org/S4306481413","display_name":"Universidad de Chile","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Art\u00edculo de revista"}],"best_oa_location":{"id":"pmh:oai:americanae.aecid.es:3334988","is_oa":true,"landing_page_url":"http://americanae.aecid.es/americanae/es/registros/registro.do?tipoRegistro=MTD&idBib=3334988","pdf_url":null,"source":{"id":"https://openalex.org/S4306400786","display_name":"Americanae (AECID Library)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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":"JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W1504362584","https://openalex.org/W1534217763","https://openalex.org/W1544111710","https://openalex.org/W1560270123","https://openalex.org/W1591578630","https://openalex.org/W1595500933","https://openalex.org/W1595800083","https://openalex.org/W1639534865","https://openalex.org/W1829015105","https://openalex.org/W1942576536","https://openalex.org/W1996763811","https://openalex.org/W2029058516","https://openalex.org/W2046850476","https://openalex.org/W2065942939","https://openalex.org/W2074040233","https://openalex.org/W2102162941","https://openalex.org/W2118176425","https://openalex.org/W2119105564","https://openalex.org/W2123797949","https://openalex.org/W2128131727","https://openalex.org/W2128198426","https://openalex.org/W2137547873","https://openalex.org/W2143340128","https://openalex.org/W2153763008","https://openalex.org/W2154205451","https://openalex.org/W2155357451","https://openalex.org/W2157924809","https://openalex.org/W2158185825","https://openalex.org/W2163668399","https://openalex.org/W2174840350","https://openalex.org/W2479735883","https://openalex.org/W2486004967","https://openalex.org/W2540660861","https://openalex.org/W2542059832","https://openalex.org/W4233061490"],"related_works":["https://openalex.org/W2391321755","https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W2896134808","https://openalex.org/W1492103595","https://openalex.org/W4211228991","https://openalex.org/W2949110394","https://openalex.org/W2353790329","https://openalex.org/W1864774435","https://openalex.org/W2279743781"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T09:40:50.615796","created_date":"2025-10-10T00:00:00"}