{"id":"https://openalex.org/W1996766818","doi":"https://doi.org/10.1017/s0263574799001411","title":"Modeling and control of biped robot dynamics","display_name":"Modeling and control of biped robot dynamics","publication_year":1999,"publication_date":"1999-07-01","ids":{"openalex":"https://openalex.org/W1996766818","doi":"https://doi.org/10.1017/s0263574799001411","mag":"1996766818"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574799001411","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001411","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/A5107414184","display_name":"St\u00e9phane Caux","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"S. Caux","raw_affiliation_strings":["Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, 161 rue Ada, 34392 Montpellier cedex 5 (France). E-mail:","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, cedex 5 (France). [email\u00a0protected], http://www.lirmm.fr&#x0 ...#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, 161 rue Ada, 34392 Montpellier cedex 5 (France). E-mail:","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, cedex 5 (France). [email\u00a0protected], http://www.lirmm.fr&#x0 ...#TAB#","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078340505","display_name":"R. Zapata","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"R. Zapata","raw_affiliation_strings":["Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, 161 rue Ada, 34392 Montpellier cedex 5 (France). E-mail:","Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, cedex 5 (France). [email\u00a0protected], http://www.lirmm.fr&#x0 ...#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, 161 rue Ada, 34392 Montpellier cedex 5 (France). E-mail:","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique, LIRMM-UM CNRS C5560-Universit\u00e9 de Montpellier II, cedex 5 (France). [email\u00a0protected], http://www.lirmm.fr&#x0 ...#TAB#","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3879,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.60044802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"17","issue":"4","first_page":"413","last_page":"426"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9884999990463257,"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":0.9699000120162964,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6507495045661926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6116166710853577},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6092469692230225},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5078735947608948},{"id":"https://openalex.org/keywords/classification-of-discontinuities","display_name":"Classification of discontinuities","score":0.4779141843318939},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.42516887187957764},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.42366504669189453},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3239481449127197},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.29416269063949585},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23252639174461365},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1759258210659027},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15576550364494324}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6507495045661926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6116166710853577},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6092469692230225},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5078735947608948},{"id":"https://openalex.org/C15627037","wikidata":"https://www.wikidata.org/wiki/Q541961","display_name":"Classification of discontinuities","level":2,"score":0.4779141843318939},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.42516887187957764},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.42366504669189453},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3239481449127197},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.29416269063949585},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23252639174461365},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1759258210659027},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15576550364494324},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574799001411","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001411","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":[{"id":"https://metadata.un.org/sdg/16","score":0.7699999809265137,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1573658130","https://openalex.org/W1589352600","https://openalex.org/W1996511732","https://openalex.org/W2070038508","https://openalex.org/W2085746528","https://openalex.org/W2110688933","https://openalex.org/W2112651309","https://openalex.org/W2118375411","https://openalex.org/W2151182239","https://openalex.org/W2159499623","https://openalex.org/W2161427949","https://openalex.org/W2163668399"],"related_works":["https://openalex.org/W1997818667","https://openalex.org/W1980345613","https://openalex.org/W2358702035","https://openalex.org/W2389619504","https://openalex.org/W2007006505","https://openalex.org/W1967533350","https://openalex.org/W2389760479","https://openalex.org/W2366233103","https://openalex.org/W2126118331","https://openalex.org/W3142620083"],"abstract_inverted_index":{"This":[0],"paper":[1],"addresses":[2],"the":[3,10,16,31,36,57,61,70,101,119,133,136],"problem":[4],"of":[5,12,18,121,167],"modeling":[6],"biped":[7,123,170],"dynamics":[8,85],"and":[9,21,35,56,80,157],"use":[11],"such":[13],"models":[14],"for":[15],"control":[17,146],"walking,":[19],"running":[20],"jumping":[22],"robots.":[23],"We":[24],"describe":[25],"two":[26,165],"approaches":[27],"to":[28,50,69,142],"dynamic":[29,38,43,93],"modeling:":[30],"basic":[32],"Lagrange":[33],"approach":[34,44],"non-regular":[37,42,150],"approach.":[39],"The":[40,65],"new":[41],"takes":[45],"into":[46],"account":[47],"discontinuities":[48],"due":[49],"rigid":[51],"contact":[52,66,79],"between":[53],"punctual":[54],"feet":[55],"ground":[58],"without":[59],"computing":[60],"exact":[62],"impact":[63],"time.":[64],"is":[67,140,155],"close":[68],"physical":[71],"situation":[72],"given":[73,162],"by":[74,128],"non-linear":[75],"laws":[76],"(impenetrability,":[77],"non-smooth":[78],"real":[81],"friction":[82],"cone).":[83],"Contact":[84],"can":[86,116],"be":[87],"well":[88],"managed":[89],"with":[90,163],"an":[91],"accurate":[92],"model":[94],"that":[95],"respects":[96],"energy":[97],"consistency":[98],"during":[99,104],"all":[100],"phases":[102],"encountered":[103],"a":[105,122,129,144,164],"step":[106],"(0,":[107],"1":[108],"or":[109],"2":[110],"contacts).":[111],"With":[112],"this":[113],"model,":[114],"we":[115],"first":[117],"study":[118],"equilibrum":[120],"standing":[124],"on":[125,149],"one":[126],"foot":[127],"linearisation":[130],"method.":[131],"In":[132],"second":[134],"stage,":[135],"unified":[137],"modelized":[138],"equation":[139],"used":[141],"establish":[143],"general":[145],"frame":[147],"based":[148],"dynamical":[151],"decoupling.":[152],"A":[153],"comparison":[154],"made":[156],"some":[158],"simulation":[159],"results":[160],"are":[161],"degree":[166],"freedom":[168],"planar":[169],"robot.":[171]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
