{"id":"https://openalex.org/W1487434675","doi":"https://doi.org/10.1023/a:1008844026298","title":"Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws","display_name":"Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws","publication_year":1997,"publication_date":"1997-09-01","ids":{"openalex":"https://openalex.org/W1487434675","doi":"https://doi.org/10.1023/a:1008844026298","mag":"1487434675"},"language":"en","primary_location":{"id":"doi:10.1023/a:1008844026298","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008844026298","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","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/A5065501675","display_name":"Ambarish Goswami","orcid":"https://orcid.org/0009-0003-3066-8562"},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Ambarish Goswami","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","institution_ids":["https://openalex.org/I4210101348"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001827841","display_name":"Bernard Espiau","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Bernard Espiau","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","institution_ids":["https://openalex.org/I4210101348"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5034994402","display_name":"Ahmed Keramane","orcid":null},"institutions":[{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en sciences et technologies du num\u00e9rique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"government","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Ahmed Keramane","raw_affiliation_strings":["INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes, 655 avenue de l\u2018Europe, ZIRST, 38330, Montbonnot Saint Martin, France","institution_ids":["https://openalex.org/I4210101348"]},{"raw_affiliation_string":"INRIA Rh\u00f4ne-Alpes 655 avenue de l\u2018Europe, ZIRST 38330 Montbonnot Saint Martin, France. E-mail: Ambarish.Goswami@inrialpes.fr#TAB#","institution_ids":["https://openalex.org/I4210101348","https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5065501675"],"corresponding_institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":5.9202,"has_fulltext":false,"cited_by_count":426,"citation_normalized_percentile":{"value":0.96085477,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"4","issue":"3","first_page":"273","last_page":"286"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9693999886512756,"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/computer-science","display_name":"Computer science","score":0.7627543807029724},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6279200315475464},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5157995223999023},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4906970262527466},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4892701804637909},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.48480668663978577},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4846852123737335},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46834155917167664},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42627331614494324},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35317718982696533},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.31250953674316406},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22037899494171143},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19335266947746277}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7627543807029724},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6279200315475464},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5157995223999023},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4906970262527466},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4892701804637909},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.48480668663978577},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4846852123737335},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46834155917167664},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42627331614494324},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35317718982696533},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31250953674316406},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22037899494171143},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19335266947746277},{"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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1023/a:1008844026298","is_oa":false,"landing_page_url":"https://doi.org/10.1023/a:1008844026298","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"Autonomous Robots","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W205607010","https://openalex.org/W1540714515","https://openalex.org/W1604918019","https://openalex.org/W1997453391","https://openalex.org/W2004021828","https://openalex.org/W2004162992","https://openalex.org/W2013232999","https://openalex.org/W2013329605","https://openalex.org/W2016102421","https://openalex.org/W2043416653","https://openalex.org/W2070038508","https://openalex.org/W2079559070","https://openalex.org/W2112651309","https://openalex.org/W2122945672","https://openalex.org/W2163668399","https://openalex.org/W2685220948","https://openalex.org/W3022356463","https://openalex.org/W4285719527","https://openalex.org/W4319293004","https://openalex.org/W6604985505","https://openalex.org/W6645044085","https://openalex.org/W6740337202"],"related_works":["https://openalex.org/W2206872286","https://openalex.org/W2382913035","https://openalex.org/W2391335452","https://openalex.org/W2113447385","https://openalex.org/W2360876323","https://openalex.org/W2109954054","https://openalex.org/W2642723128","https://openalex.org/W1970764900","https://openalex.org/W2366280361","https://openalex.org/W638953695"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":20},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":18},{"year":2015,"cited_by_count":20},{"year":2014,"cited_by_count":28},{"year":2013,"cited_by_count":16},{"year":2012,"cited_by_count":16}],"updated_date":"2026-06-19T15:47:20.252518","created_date":"2016-06-24T00:00:00"}