{"id":"https://openalex.org/W2052014474","doi":"https://doi.org/10.1017/s026357470400058x","title":"Open-loop stable running","display_name":"Open-loop stable running","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2052014474","doi":"https://doi.org/10.1017/s026357470400058x","mag":"2052014474"},"language":"en","primary_location":{"id":"doi:10.1017/s026357470400058x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470400058x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5042406934","display_name":"Katja Mombaur","orcid":"https://orcid.org/0000-0003-1353-0943"},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katja D. Mombaur","raw_affiliation_strings":["IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006447458","display_name":"Richard W. Longman","orcid":"https://orcid.org/0000-0002-1345-0487"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard W. Longman","raw_affiliation_strings":["Dept. of Mechanical Engineering, Columbia University, New York, 10027 (USA","Dept. of Mechanical Engineering, Columbia University, New York, 10027 (USA)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, Columbia University, New York, 10027 (USA","institution_ids":["https://openalex.org/I78577930"]},{"raw_affiliation_string":"Dept. of Mechanical Engineering, Columbia University, New York, 10027 (USA)","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112154016","display_name":"Hans Georg Bock","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Hans Georg Bock","raw_affiliation_strings":["IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113437774","display_name":"Johannes P. Schl\u00f6der","orcid":null},"institutions":[{"id":"https://openalex.org/I223822909","display_name":"Heidelberg University","ror":"https://ror.org/038t36y30","country_code":"DE","type":"education","lineage":["https://openalex.org/I223822909"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes P. Schl\u00f6der","raw_affiliation_strings":["IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany","institution_ids":["https://openalex.org/I223822909"]},{"raw_affiliation_string":"IWR, Universit\u00e4t Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg (Germany)","institution_ids":["https://openalex.org/I223822909"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.8278,"has_fulltext":false,"cited_by_count":68,"citation_normalized_percentile":{"value":0.92805289,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"23","issue":"1","first_page":"21","last_page":"33"},"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":0.9944999814033508,"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":0.98089998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7491635680198669},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6831949353218079},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6541878581047058},{"id":"https://openalex.org/keywords/open-loop-controller","display_name":"Open-loop controller","score":0.5683196783065796},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.5639368891716003},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5199681520462036},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5150870680809021},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.5001962184906006},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.44165679812431335},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4294254183769226},{"id":"https://openalex.org/keywords/closed-loop","display_name":"Closed loop","score":0.3455975353717804},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32430416345596313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32011252641677856},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23948067426681519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21040421724319458},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18903523683547974},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1565384864807129},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15063753724098206}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7491635680198669},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6831949353218079},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6541878581047058},{"id":"https://openalex.org/C161362739","wikidata":"https://www.wikidata.org/wiki/Q2301555","display_name":"Open-loop controller","level":3,"score":0.5683196783065796},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.5639368891716003},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5199681520462036},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5150870680809021},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.5001962184906006},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.44165679812431335},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4294254183769226},{"id":"https://openalex.org/C3019251811","wikidata":"https://www.wikidata.org/wiki/Q5135346","display_name":"Closed loop","level":2,"score":0.3455975353717804},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32430416345596313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32011252641677856},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23948067426681519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21040421724319458},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18903523683547974},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1565384864807129},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15063753724098206},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s026357470400058x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357470400058x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1562460111","https://openalex.org/W1602436038","https://openalex.org/W1984331895","https://openalex.org/W1994901339","https://openalex.org/W2017255086","https://openalex.org/W2046850476","https://openalex.org/W2067536400","https://openalex.org/W2091818051","https://openalex.org/W2095995309","https://openalex.org/W2111253117","https://openalex.org/W2132381711","https://openalex.org/W2137547873","https://openalex.org/W2140243996","https://openalex.org/W2141541198","https://openalex.org/W2157428237","https://openalex.org/W2163668399","https://openalex.org/W3171463154","https://openalex.org/W4237271316"],"related_works":["https://openalex.org/W2259382430","https://openalex.org/W2397460850","https://openalex.org/W4322484979","https://openalex.org/W2612895087","https://openalex.org/W1533811576","https://openalex.org/W2774292953","https://openalex.org/W2103982267","https://openalex.org/W2065196227","https://openalex.org/W2319944002","https://openalex.org/W2724432464"],"abstract_inverted_index":{"We":[0],"present":[1],"simulated":[2],"monopedal":[3],"and":[4,79],"bipedal":[5],"robots":[6,78],"that":[7,49,59,94],"are":[8,60],"capable":[9],"of":[10,45,76,82],"open-loop":[11,46],"stable":[12,25,88],"periodic":[13,54],"running":[14],"motions":[15,89],"without":[16],"any":[17,64],"feedback":[18,65],"even":[19],"though":[20],"they":[21],"have":[22],"no":[23],"statically":[24],"standing":[26],"positions.":[27],"Running":[28],"as":[29],"opposed":[30],"to":[31,68,87],"walking":[32],"involves":[33],"flight":[34],"phases":[35],"which":[36],"makes":[37],"stability":[38,47,101],"a":[39,91],"particularly":[40],"difficult":[41,92],"issue.":[42],"The":[43,74],"concept":[44],"implies":[48],"the":[50,70,80],"actuators":[51],"receive":[52],"purely":[53],"torque":[55],"or":[56],"force":[57],"inputs":[58],"never":[61],"altered":[62],"by":[63],"in":[66],"order":[67],"prevent":[69],"robot":[71],"from":[72],"falling.":[73],"design":[75],"these":[77],"choice":[81],"model":[83],"parameter":[84],"values":[85],"leading":[86],"is":[90],"task":[93],"has":[95],"been":[96],"accomplished":[97],"using":[98],"newly":[99],"developed":[100],"optimization":[102],"methods.":[103]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}