{"id":"https://openalex.org/W2753715527","doi":"https://doi.org/10.1109/aim.2017.8014225","title":"Development of a passive dynamic walking robot based on mechanical structural parameters optimization","display_name":"Development of a passive dynamic walking robot based on mechanical structural parameters optimization","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2753715527","doi":"https://doi.org/10.1109/aim.2017.8014225","mag":"2753715527"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5043336501","display_name":"Xizhe Zang","orcid":"https://orcid.org/0000-0002-5124-3999"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhe Zang","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103622389","display_name":"Xinyu Liu","orcid":"https://orcid.org/0009-0005-7374-9113"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyu Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071549690","display_name":"Yongsheng Gao","orcid":"https://orcid.org/0000-0002-5382-5351"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongsheng Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100621839","display_name":"Yixiang Liu","orcid":"https://orcid.org/0000-0002-6217-7093"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiang Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009207339","display_name":"Zhenkun Lin","orcid":"https://orcid.org/0000-0002-3533-0689"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenkun Lin","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.12240929,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2004","issue":null,"first_page":"1465","last_page":"1470"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6520951986312866},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6051819324493408},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5860576629638672},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5502630472183228},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5303941965103149},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4659819006919861},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.43732595443725586},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41994550824165344},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.4163840711116791},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.4146060347557068},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12473157048225403},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10650023818016052}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6520951986312866},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6051819324493408},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5860576629638672},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5502630472183228},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5303941965103149},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4659819006919861},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.43732595443725586},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41994550824165344},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.4163840711116791},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.4146060347557068},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12473157048225403},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10650023818016052},{"id":"https://openalex.org/C1862650","wikidata":"https://www.wikidata.org/wiki/Q186005","display_name":"Physical therapy","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W37667216","https://openalex.org/W50292030","https://openalex.org/W1639534865","https://openalex.org/W1995409582","https://openalex.org/W2000535285","https://openalex.org/W2002942449","https://openalex.org/W2010917654","https://openalex.org/W2012187119","https://openalex.org/W2037729465","https://openalex.org/W2062854188","https://openalex.org/W2076886560","https://openalex.org/W2107149337","https://openalex.org/W2111253117","https://openalex.org/W2120693140","https://openalex.org/W2138671676","https://openalex.org/W2163668399","https://openalex.org/W2313070829","https://openalex.org/W2540660861","https://openalex.org/W3147253688","https://openalex.org/W6601529325"],"related_works":["https://openalex.org/W2104185603","https://openalex.org/W2532934974","https://openalex.org/W2965229072","https://openalex.org/W3036227703","https://openalex.org/W2547001673","https://openalex.org/W4384824586","https://openalex.org/W2516761344","https://openalex.org/W2002270422","https://openalex.org/W2909351964","https://openalex.org/W3163519213"],"abstract_inverted_index":{"Passive":[0],"dynamic":[1,59,98],"walking":[2,18,30,38,55,60,100],"robot":[3,101],"can":[4],"walk":[5],"with":[6,90,103],"low":[7,34],"energy":[8],"consumption":[9],"and":[10,77,110,124],"exhibits":[11],"human-like":[12],"natural":[13],"gait.":[14],"However,":[15],"because":[16],"the":[17,25,49,73,86,118,122,129],"performance":[19],"greatly":[20],"or":[21],"fully":[22],"depends":[23],"on":[24,85,117],"mechanical":[26,44,66,79],"structural":[27,67,80],"parameters,":[28],"their":[29],"stability":[31,88],"is":[32,132],"quite":[33],"compared":[35],"to":[36,52,71],"active":[37],"robot.":[39,61],"In":[40,62],"other":[41],"words,":[42],"proper":[43],"parameters":[45,68,74,81],"are":[46],"one":[47],"of":[48],"key":[50],"factors":[51],"achieve":[53],"stable":[54],"for":[56],"a":[57],"passive":[58,97],"this":[63],"paper,":[64],"parametric":[65],"were":[69,82],"used":[70],"fulfill":[72],"optimization":[75,119,130],"process":[76],"optimal":[78],"obtained":[83],"based":[84,116],"global":[87],"analysis":[89],"cell-mapping":[91],"method":[92],"by":[93],"numerical":[94],"simulation.":[95],"A":[96],"biped":[99],"prototype":[102],"hip":[104],"joint,":[105],"knee":[106],"joints,":[107],"ankle":[108],"joints":[109],"an":[111],"upper":[112],"body":[113],"was":[114],"developed":[115],"result,":[120],"both":[121],"simulation":[123],"experiments":[125],"results":[126],"proved":[127],"that":[128],"result":[131],"reasonable.":[133]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
