{"id":"https://openalex.org/W1557712762","doi":"https://doi.org/10.1109/icar.2015.7251479","title":"Stability of a compass gait walking model with series elastic ankle actuation","display_name":"Stability of a compass gait walking model with series elastic ankle actuation","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1557712762","doi":"https://doi.org/10.1109/icar.2015.7251479","mag":"1557712762"},"language":"en","primary_location":{"id":"doi:10.1109/icar.2015.7251479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11511/46980","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014063165","display_name":"Deniz Kerimo\u011flu","orcid":"https://orcid.org/0000-0002-1193-4680"},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Deniz Kerimoglu","raw_affiliation_strings":["Bilkent Universitesi, Ankara, TR","Department of Electrical and Electronics Engineering, Bilkent University, 06800 Ankara, Turkey#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bilkent Universitesi, Ankara, TR","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Bilkent University, 06800 Ankara, Turkey#TAB#","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071326672","display_name":"\u00d6mer Morg\u00fcl","orcid":"https://orcid.org/0000-0002-3158-3961"},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Omer Morgul","raw_affiliation_strings":["Dept. of Electrical and Electronics Engineering, Bilkent University, Ankara, Turkey","Department of Electrical and Electronics Engineering, Bilkent University, 06800 Ankara, Turkey#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Electronics Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Department of Electrical and Electronics Engineering, Bilkent University, 06800 Ankara, Turkey#TAB#","institution_ids":["https://openalex.org/I168864056"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071461538","display_name":"Uluc\u0323 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Uluc Saranli","raw_affiliation_strings":["Dept. of Computer Engineering, Middle East Technical University, Ankara, Turkey","Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Computer Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]},{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1984,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.74088919,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"351","last_page":"356"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.998199999332428,"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/T11097","display_name":"Cerebral Palsy and Movement Disorders","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/2738","display_name":"Psychiatry and Mental health"},"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/gait","display_name":"Gait","score":0.6690918207168579},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.6299464702606201},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.6235823631286621},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.6078477501869202},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6068081855773926},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5891329050064087},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5890380144119263},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5411931276321411},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4319964647293091},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41898059844970703},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39792630076408386},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.30116474628448486},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2312120497226715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22987017035484314},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16530749201774597},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11234220862388611},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09877678751945496},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09335839748382568}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6690918207168579},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.6299464702606201},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.6235823631286621},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6078477501869202},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6068081855773926},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5891329050064087},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5890380144119263},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5411931276321411},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4319964647293091},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41898059844970703},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39792630076408386},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.30116474628448486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2312120497226715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22987017035484314},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16530749201774597},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11234220862388611},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09877678751945496},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09335839748382568},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icar.2015.7251479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icar.2015.7251479","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 International Conference on Advanced Robotics (ICAR)","raw_type":"proceedings-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/46980","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/46980","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:open.metu.edu.tr:11511/46980","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/46980","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1487434675","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W2016102421","https://openalex.org/W2017408536","https://openalex.org/W2065204025","https://openalex.org/W2100465140","https://openalex.org/W2107610091","https://openalex.org/W2119105564","https://openalex.org/W2127197062","https://openalex.org/W2130260542","https://openalex.org/W2137547873","https://openalex.org/W2137876704","https://openalex.org/W2153763008","https://openalex.org/W2155747544","https://openalex.org/W2163668399","https://openalex.org/W2170420143","https://openalex.org/W2170839407","https://openalex.org/W3034744312","https://openalex.org/W6779629328"],"related_works":["https://openalex.org/W2040549058","https://openalex.org/W2133973503","https://openalex.org/W1966400673","https://openalex.org/W2295597290","https://openalex.org/W2471060339","https://openalex.org/W2148547327","https://openalex.org/W4226236273","https://openalex.org/W2125892956","https://openalex.org/W2790560349","https://openalex.org/W2130975749"],"abstract_inverted_index":{"Passive":[0],"dynamic":[1],"walkers":[2],"exhibit":[3],"stable":[4,95,179],"human-like":[5],"walking":[6,96,180],"on":[7,46,97,181,199],"inclined":[8],"planes.":[9],"The":[10,100],"simplest":[11],"model":[12,80,188],"of":[13,27,59,142,146,168,193],"this":[14,66,74,149,169,187],"behavior":[15],"is":[16,104,123,184],"the":[17,32,88,130,140,143,191],"well":[18],"known":[19],"passive":[20,41],"compass":[21],"gait":[22],"(PCG)":[23],"model,":[24,150],"which":[25],"consists":[26],"a":[28,47,78,109,134,153,159],"point":[29],"mass":[30],"at":[31,87],"hip":[33],"and":[34,122,171,189,196],"two":[35],"stick":[36],"legs.":[37],"Due":[38],"to":[39,50,54,64,81,93,106,112,119,125],"their":[40,173,197],"nature,":[42],"these":[43],"systems":[44],"rely":[45],"sloped":[48],"ground":[49,55,183],"recover":[51],"energy":[52],"lost":[53],"collisions.":[56],"A":[57],"variety":[58],"methods":[60],"have":[61],"been":[62],"proposed":[63],"eliminate":[65],"requirement":[67],"by":[68],"using":[69],"different":[70],"actuation":[71,86],"methods.":[72],"In":[73],"study,":[75],"we":[76,102],"propose":[77,103],"simple":[79],"investigate":[82,172],"how":[83,113],"series":[84],"elastic":[85],"ankle":[89,131],"can":[90],"be":[91,126],"used":[92,127],"achieve":[94],"level":[98],"ground.":[99],"structure":[101],"designed":[105],"behave":[107],"in":[108,133,152],"similar":[110],"fashion":[111],"humans":[114],"utilize":[115],"toe":[116],"push-off":[117],"prior":[118],"leg":[120],"liftoff,":[121],"intended":[124],"for":[128,148,158],"controlling":[129],"joint":[132],"lower-body":[135],"robotic":[136],"orthosis.":[137],"We":[138,162,175],"present":[139],"derivation":[141],"hybrid":[144],"equations":[145],"motion":[147],"resulting":[151],"numerically":[154,164],"computed":[155],"return":[156],"map":[157],"single":[160],"stride.":[161],"then":[163],"identify":[165,190],"fixed":[166],"points":[167],"system":[170,200],"stability.":[174],"show":[176],"that":[177],"asymptotically":[178],"flat":[182],"possible":[185],"with":[186],"dependence":[192],"limit":[194],"cycles":[195],"stability":[198],"parameters.":[201]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}