{"id":"https://openalex.org/W2171157127","doi":"https://doi.org/10.1109/iros.2009.5354661","title":"Understanding the common principle underlying passive dynamic walking and running","display_name":"Understanding the common principle underlying passive dynamic walking and running","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2171157127","doi":"https://doi.org/10.1109/iros.2009.5354661","mag":"2171157127"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5072945772","display_name":"Dai Owaki","orcid":"https://orcid.org/0000-0003-1217-3892"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Dai Owaki","raw_affiliation_strings":["Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086080989","display_name":"Koichi Osuka","orcid":"https://orcid.org/0000-0002-1882-1697"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichi Osuka","raw_affiliation_strings":["Department of Mechanical Engineering, Osaka University, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079413812","display_name":"Akio Ishiguro","orcid":"https://orcid.org/0000-0003-2850-0149"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akio Ishiguro","raw_affiliation_strings":["Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Electrical and Communication Engineering, University of Tohoku, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072945772"],"corresponding_institution_ids":["https://openalex.org/I201537933"],"apc_list":null,"apc_paid":null,"fwci":1.1117,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79304676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"307","issue":null,"first_page":"3208","last_page":"3213"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9505000114440918,"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/control-theory","display_name":"Control theory (sociology)","score":0.7155531048774719},{"id":"https://openalex.org/keywords/bifurcation","display_name":"Bifurcation","score":0.7033308148384094},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6093961000442505},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.48354363441467285},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.45870766043663025},{"id":"https://openalex.org/keywords/phenomenon","display_name":"Phenomenon","score":0.4226510226726532},{"id":"https://openalex.org/keywords/poincar\u00e9-map","display_name":"Poincar\u00e9 map","score":0.41423481702804565},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3899303376674652},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29150864481925964},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19432109594345093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1904819905757904},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08487778902053833}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7155531048774719},{"id":"https://openalex.org/C2781349735","wikidata":"https://www.wikidata.org/wiki/Q4904824","display_name":"Bifurcation","level":3,"score":0.7033308148384094},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6093961000442505},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.48354363441467285},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.45870766043663025},{"id":"https://openalex.org/C50335755","wikidata":"https://www.wikidata.org/wiki/Q483247","display_name":"Phenomenon","level":2,"score":0.4226510226726532},{"id":"https://openalex.org/C21955772","wikidata":"https://www.wikidata.org/wiki/Q339199","display_name":"Poincar\u00e9 map","level":4,"score":0.41423481702804565},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3899303376674652},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29150864481925964},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19432109594345093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1904819905757904},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08487778902053833},{"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354661","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1602436038","https://openalex.org/W1942576536","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2046850476","https://openalex.org/W2074686910","https://openalex.org/W2081214795","https://openalex.org/W2090645020","https://openalex.org/W2134948877","https://openalex.org/W2155507025","https://openalex.org/W2156346336","https://openalex.org/W2163668399","https://openalex.org/W2328767176","https://openalex.org/W6672941686"],"related_works":["https://openalex.org/W4300450609","https://openalex.org/W4386931570","https://openalex.org/W2134948877","https://openalex.org/W2160732220","https://openalex.org/W3107946728","https://openalex.org/W2152093354","https://openalex.org/W2351512758","https://openalex.org/W2391486919","https://openalex.org/W2350650174","https://openalex.org/W2490517046"],"abstract_inverted_index":{"In":[0],"this":[1,29,148],"study,":[2],"we":[3,31,62],"discuss":[4],"the":[5,21,91,105,123,143,165],"common":[6,166],"stabilization":[7,99],"mechanism":[8,100,121],"underlying":[9,128,167],"passive":[10,15,170],"dynamic":[11,16,171],"walking":[12],"(PDW)":[13],"and":[14,40,42,54,110,112,134,136,155,176],"running":[17],"(PDR),":[18],"focusing":[19],"on":[20,46,164],"feedback":[22,68,82],"structures":[23],"in":[24,90,101,140],"analytical":[25,35],"Poincare\u00bf":[26,36],"maps.":[27],"To":[28,142],"end,":[30],"have":[32,63],"derived":[33],"linearized":[34],"maps":[37],"for":[38],"PDW":[39,114,133,175],"PDR,":[41],"analyzed":[43],"these":[44],"stabilities":[45],"two":[47],"models,":[48],"namely":[49],"models":[50],"with":[51,55,107,117],"elastic":[52,108],"elements":[53],"stiff":[56,118],"legs.":[57,119],"Through":[58],"our":[59,146],"theoretical":[60],"analysis,":[61],"found":[64],"an":[65,86,97],"\u00bfimplicit":[66],"two-delay":[67,79],"structure\u00bf,":[69],"which":[70],"can":[71],"be":[72,153],"seen":[73],"as":[74,85],"a":[75],"certain":[76],"type":[77],"of":[78,93,145,169],"input":[80],"digital":[81],"control":[83,88,94],"developed":[84],"artificial":[87],"structure":[89],"field":[92],"theory,":[95],"is":[96,122],"inherent":[98],"PDR":[102,135],"appearing":[103,115],"from":[104,116],"model":[106],"elements,":[109],"two-period":[111],"four-period":[113],"This":[120],"key":[124],"to":[125,152],"adaptive":[126],"function":[127],"phase":[129],"transition":[130],"phenomenon":[131,139],"between":[132],"period-doubling":[137],"bifurcation":[138],"PDW.":[141],"best":[144],"knowledge,":[147],"has":[149],"not":[150],"yet":[151],"addressed":[154],"studied":[156],"so":[157],"far.":[158],"Our":[159],"results":[160],"shed":[161],"new":[162],"light":[163],"principle":[168],"locomotion,":[172],"including":[173],"biped":[174],"PDR.":[177]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}