{"id":"https://openalex.org/W2066378126","doi":"https://doi.org/10.1109/iros.2014.6942909","title":"SLIP with swing leg augmentation as a model for running","display_name":"SLIP with swing leg augmentation as a model for running","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W2066378126","doi":"https://doi.org/10.1109/iros.2014.6942909","mag":"2066378126"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5006117722","display_name":"Aida Mohammadi Nejad Rashty","orcid":"https://orcid.org/0000-0002-5261-4181"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Aida Mohammadi Nejad Rashty","raw_affiliation_strings":["Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","Lauflabor Laboratory, Technical University of Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017524660","display_name":"Maziar A. Sharbafi","orcid":"https://orcid.org/0000-0001-5727-7527"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maziar Ahmad Sharbafi","raw_affiliation_strings":["Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","Lauflabor Laboratory, Technical University of Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015080938","display_name":"Andr\u00e9 Seyfarth","orcid":"https://orcid.org/0000-0001-8285-2415"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andre Seyfarth","raw_affiliation_strings":["Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","Lauflabor Laboratory, Technical University of Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Lauflabor Laboratory, Technical University of Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":null,"first_page":"2543","last_page":"2549"},"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":0.9822999835014343,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.972000002861023,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/swing","display_name":"Swing","score":0.9124892354011536},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7813454866409302},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7023271322250366},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5984852313995361},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5267362594604492},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5167040824890137},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4841540455818176},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4547708034515381},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43637505173683167},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4330779016017914},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26013538241386414},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25060227513313293},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14793825149536133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14560988545417786},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1382705271244049},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12641412019729614},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1019875705242157},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09548154473304749},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07918336987495422}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.9124892354011536},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7813454866409302},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7023271322250366},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5984852313995361},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5267362594604492},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5167040824890137},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4841540455818176},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4547708034515381},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43637505173683167},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4330779016017914},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26013538241386414},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25060227513313293},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14793825149536133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14560988545417786},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1382705271244049},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12641412019729614},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1019875705242157},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09548154473304749},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07918336987495422},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8399999737739563}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1480343083","https://openalex.org/W1498336348","https://openalex.org/W1559393815","https://openalex.org/W1822001265","https://openalex.org/W1968106150","https://openalex.org/W1968196344","https://openalex.org/W1974681277","https://openalex.org/W1988193275","https://openalex.org/W1990924208","https://openalex.org/W2001435224","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2046850476","https://openalex.org/W2052683749","https://openalex.org/W2070839171","https://openalex.org/W2075135730","https://openalex.org/W2083588185","https://openalex.org/W2086061329","https://openalex.org/W2093421279","https://openalex.org/W2121829700","https://openalex.org/W2129224530","https://openalex.org/W2161427949","https://openalex.org/W2162405796","https://openalex.org/W2169470463","https://openalex.org/W2170320699","https://openalex.org/W2189065345","https://openalex.org/W4211003818","https://openalex.org/W6629651293"],"related_works":["https://openalex.org/W2614575562","https://openalex.org/W2372645633","https://openalex.org/W2689391174","https://openalex.org/W2381102871","https://openalex.org/W1533581585","https://openalex.org/W2631800242","https://openalex.org/W2352999299","https://openalex.org/W2944815795","https://openalex.org/W1522532261","https://openalex.org/W4289540027"],"abstract_inverted_index":{"Swing":[0],"leg":[1,4,27,50,164,167,180],"adjustment,":[2],"repulsive":[3],"function":[5],"and":[6,55,77,146,225],"balance":[7],"are":[8,105],"key":[9,157],"elements":[10],"in":[11,183,188,206],"the":[12,44,74,83,92,121,125,130,133,138,147,160,196,207],"control":[13,28,81,126],"of":[14,38,46,68,132,159,178],"bipedal":[15],"locomotion.":[16],"In":[17,128],"simple":[18],"gait":[19,61],"models":[20],"like":[21,48,141,162],"spring-loaded":[22],"inverted":[23],"pendulum":[24,47,79,93,122,134],"(SLIP),":[25],"swing":[26,49,84,163],"can":[29,169,214,226],"be":[30,152,170,215,227],"applied":[31],"to":[32,42,119,198,229],"achieve":[33],"stable":[34,98],"running.":[35],"The":[36,63,107,191],"aim":[37],"this":[39,155],"study":[40],"is":[41,87,114,182],"investigate":[43],"ability":[45],"motion":[51,139,165,177],"for":[52,73,82,222],"stabilizing":[53],"running":[54,65,99],"reproducing":[56],"a":[57,78,218],"desired":[58],"(human":[59],"like)":[60],"pattern.":[62],"employed":[64],"model":[66,72,193,213],"consists":[67],"two":[69],"sub-models:":[70],"SLIP":[71,209],"stance":[75],"phase":[76],"based":[80],"phase.":[85],"It":[86],"shown":[88],"that":[89],"with":[90,101,185],"changing":[91],"length":[94,123,135],"at":[95,111],"each":[96,179],"step,":[97],"gaits":[100],"widely":[102],"different":[103],"performances":[104],"achieved.":[106],"body":[108],"vertical":[109],"speed":[110],"take":[112],"off":[113],"utilized":[115],"as":[116,124,217],"feedback":[117],"information":[118],"tune":[120],"parameter.":[127],"particular,":[129],"effect":[131],"adjustment":[136],"on":[137],"characteristics":[140],"horizontal":[142],"speed,":[143],"apex":[144],"height":[145],"stabilized":[148],"system":[149],"energy":[150],"will":[151],"investigated.":[153],"With":[154],"method":[156],"features":[158],"human":[161],"e.g.":[166,234],"retraction":[168],"reproduced.":[171],"Higher":[172],"speeds":[173],"correspond":[174],"larger":[175],"angular":[176],"which":[181,202],"agreement":[184],"experimental":[186],"results":[187],"previous":[189],"studies.":[190],"presented":[192],"also":[194],"explains":[195],"swing-leg":[197],"stance-leg":[199],"interaction":[200],"mechanism":[201],"was":[203],"not":[204],"addressed":[205],"underlying":[208],"model.":[210],"This":[211],"conceptual":[212],"considered":[216],"functional":[219],"mechanical":[220],"template":[221],"legged":[223],"locomotion":[224],"used":[228],"build":[230],"more":[231],"complex":[232],"models,":[233],"having":[235],"segmented":[236],"legs":[237],"or":[238],"an":[239],"upper":[240],"body.":[241]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
