{"id":"https://openalex.org/W2171191210","doi":"https://doi.org/10.1017/s0263574708005134","title":"The mechanics of biped running and a stable control strategy","display_name":"The mechanics of biped running and a stable control strategy","publication_year":2008,"publication_date":"2008-10-03","ids":{"openalex":"https://openalex.org/W2171191210","doi":"https://doi.org/10.1017/s0263574708005134","mag":"2171191210"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574708005134","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708005134","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/A5025530817","display_name":"Muhammad E. Abdallah","orcid":"https://orcid.org/0000-0002-0266-5052"},"institutions":[{"id":"https://openalex.org/I118136607","display_name":"General Motors (United States)","ror":"https://ror.org/05addee68","country_code":"US","type":"company","lineage":["https://openalex.org/I118136607"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Muhammad E. Abdallah","raw_affiliation_strings":["General Motors Research, Warren, MI 48090, USA"],"affiliations":[{"raw_affiliation_string":"General Motors Research, Warren, MI 48090, USA","institution_ids":["https://openalex.org/I118136607"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028963289","display_name":"Kenneth J. Waldron","orcid":"https://orcid.org/0000-0002-7910-4907"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenneth J. Waldron","raw_affiliation_strings":["Stanford University, Stanford, CA 94305, USA. E-mail:"],"affiliations":[{"raw_affiliation_string":"Stanford University, Stanford, CA 94305, USA. E-mail:","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5025530817"],"corresponding_institution_ids":["https://openalex.org/I118136607"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.18389526,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"27","issue":"5","first_page":"789","last_page":"799"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9513999819755554,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9294999837875366,"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/computer-science","display_name":"Computer science","score":0.6123148798942566},{"id":"https://openalex.org/keywords/heuristic","display_name":"Heuristic","score":0.5623147487640381},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.534291684627533},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5124359726905823},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.5019745826721191},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.49618393182754517},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4707249701023102},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4340812563896179},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3913121223449707},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2573069930076599},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1832052767276764}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6123148798942566},{"id":"https://openalex.org/C173801870","wikidata":"https://www.wikidata.org/wiki/Q201413","display_name":"Heuristic","level":2,"score":0.5623147487640381},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.534291684627533},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5124359726905823},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.5019745826721191},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.49618393182754517},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4707249701023102},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4340812563896179},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3913121223449707},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2573069930076599},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1832052767276764},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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":1,"locations":[{"id":"doi:10.1017/s0263574708005134","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708005134","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":34,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W623304071","https://openalex.org/W1867808448","https://openalex.org/W1971175227","https://openalex.org/W1981845147","https://openalex.org/W2008342119","https://openalex.org/W2015941796","https://openalex.org/W2030515455","https://openalex.org/W2043878167","https://openalex.org/W2073746737","https://openalex.org/W2075135730","https://openalex.org/W2092535029","https://openalex.org/W2102116977","https://openalex.org/W2114850647","https://openalex.org/W2115693880","https://openalex.org/W2120894402","https://openalex.org/W2125788595","https://openalex.org/W2141012854","https://openalex.org/W2155614956","https://openalex.org/W2157826678","https://openalex.org/W2161427949","https://openalex.org/W2162302034","https://openalex.org/W2165529265","https://openalex.org/W2170320699","https://openalex.org/W2171576207","https://openalex.org/W2181790860","https://openalex.org/W2326412161","https://openalex.org/W2331982036","https://openalex.org/W2419285408","https://openalex.org/W2603462040","https://openalex.org/W4213033831","https://openalex.org/W4229720873","https://openalex.org/W4376530426","https://openalex.org/W4376545026"],"related_works":["https://openalex.org/W1585007175","https://openalex.org/W2382521049","https://openalex.org/W2144385241","https://openalex.org/W2149537132","https://openalex.org/W2018871932","https://openalex.org/W641279757","https://openalex.org/W370975646","https://openalex.org/W2165950148","https://openalex.org/W4253593777","https://openalex.org/W1670566515"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1,35],"work":[2],"presents":[3],"an":[4],"analysis":[5],"of":[6,9,23,57,61,82],"the":[7,24,38,47,65,69,89],"mechanics":[8,25],"biped":[10,83],"running":[11,92],"with":[12],"a":[13,32,43,58,80],"heuristic":[14],"control":[15,39,54],"strategy":[16,40,48,55],"for":[17,45],"stable":[18],"running.":[19,84],"A":[20],"tractable":[21],"model":[22,36],"is":[26,77],"presented":[27],"through":[28],"principles,":[29],"measures,":[30],"and":[31,41,87,93,100],"time-distributed":[33],"perspective.":[34],"motivates":[37],"provides":[42],"basis":[44],"extending":[46],"to":[49,97],"more":[50],"general":[51],"systems.":[52,102],"The":[53,74],"consists":[56],"simple":[59],"set":[60],"four":[62],"rules,":[63],"where":[64],"key":[66],"rule":[67],"considers":[68],"leg":[70],"length":[71],"upon":[72],"liftoff.":[73],"Steady-State":[75],"Index":[76],"proposed":[78],"as":[79],"characterization":[81],"It":[85],"identifies":[86],"relates":[88],"parameters":[90],"affecting":[91],"has":[94],"broad":[95],"applicability":[96],"both":[98],"biological":[99],"robotic":[101]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
