{"id":"https://openalex.org/W2542056373","doi":"https://doi.org/10.1109/ichr.2005.1573554","title":"Powered bipeds based on passive dynamic principles","display_name":"Powered bipeds based on passive dynamic principles","publication_year":2006,"publication_date":"2006-01-25","ids":{"openalex":"https://openalex.org/W2542056373","doi":"https://doi.org/10.1109/ichr.2005.1573554","mag":"2542056373"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2005.1573554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","raw_type":"proceedings-article"},"type":"conference-paper","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/A5058502599","display_name":"Stuart Anderson","orcid":"https://orcid.org/0000-0002-3035-3478"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"S.O. Anderson","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012384272","display_name":"Martijn Wisse","orcid":"https://orcid.org/0000-0001-8210-7562"},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"M. Wisse","raw_affiliation_strings":["Delft University of Technology, Netherlands"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology, Netherlands","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C.G. Atkeson","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011498939","display_name":"Jessica K. Hodgins","orcid":"https://orcid.org/0000-0002-1778-883X"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"J.K. Hodgins","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068614605","display_name":"Garth Zeglin","orcid":"https://orcid.org/0000-0002-6680-4787"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"G.J. Zeglin","raw_affiliation_strings":["Carnegie Mellon University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042717969","display_name":"Brian Moyer","orcid":null},"institutions":[{"id":"https://openalex.org/I170201317","display_name":"University of Pittsburgh","ror":"https://ror.org/01an3r305","country_code":"US","type":"education","lineage":["https://openalex.org/I170201317"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"B. Moyer","raw_affiliation_strings":["University of Pittsburgh"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Pittsburgh","institution_ids":["https://openalex.org/I170201317"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":54,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"110","last_page":"116"},"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":0.9958000183105469,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9894999861717224,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7363609671592712},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6968942284584045},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6195151209831238},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6065366864204407},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.596036434173584},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5903115272521973},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.521644651889801},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45201003551483154},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.320343554019928},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3093376159667969},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16095387935638428},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10398179292678833}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7363609671592712},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6968942284584045},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6195151209831238},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6065366864204407},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.596036434173584},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5903115272521973},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.521644651889801},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45201003551483154},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.320343554019928},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3093376159667969},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16095387935638428},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10398179292678833},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2005.1573554","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573554","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1577462537","https://openalex.org/W1798187755","https://openalex.org/W1996763811","https://openalex.org/W1997216755","https://openalex.org/W2024117775","https://openalex.org/W2027018636","https://openalex.org/W2029058516","https://openalex.org/W2030515455","https://openalex.org/W2037729465","https://openalex.org/W2086587468","https://openalex.org/W2099447959","https://openalex.org/W2113687557","https://openalex.org/W2123601387","https://openalex.org/W2153917213","https://openalex.org/W2161427949","https://openalex.org/W2163668399","https://openalex.org/W2539892030","https://openalex.org/W2542059832","https://openalex.org/W4241090687","https://openalex.org/W6634671218"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W2992473238"],"abstract_inverted_index":{"We":[0,43],"describe":[1],"three":[2,51],"bipedal":[3],"robots":[4],"that":[5],"are":[6],"designed":[7],"and":[8,29,37,64],"controlled":[9],"based":[10],"on":[11],"principles":[12,77],"learned":[13],"from":[14],"the":[15,25,35,48,54,72],"gaits":[16],"of":[17,40,50,74],"passive":[18,75],"dynamic":[19,76],"walking":[20],"robots.":[21],"This":[22,69],"paper":[23],"explains":[24],"common":[26],"control":[27,38,83],"structure":[28],"design":[30],"procedure":[31],"used":[32],"to":[33,78],"determine":[34],"mechanical":[36],"parameters":[39],"each":[41],"robot.":[42],"present":[44],"this":[45],"work":[46,70],"in":[47],"context":[49],"robots:":[52],"Denise,":[53],"Delft":[55],"pneumatic":[56],"biped,":[57,63],"R1,":[58],"a":[59,66],"highly":[60],"backdrivable":[61],"electric":[62],"R2,":[65],"hydraulic":[67],"biped.":[68],"illustrates":[71],"application":[73],"powered":[79],"systems":[80],"with":[81],"significant":[82],"authority":[84]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":7}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
