{"id":"https://openalex.org/W2161150503","doi":"https://doi.org/10.1109/robio.2010.5723513","title":"Foot shape for passive dynamic kneed biped robot","display_name":"Foot shape for passive dynamic kneed biped robot","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2161150503","doi":"https://doi.org/10.1109/robio.2010.5723513","mag":"2161150503"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5101776747","display_name":"Jianfei Li","orcid":"https://orcid.org/0009-0002-3238-3846"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jianfei Li","raw_affiliation_strings":["Key Laboratory of Bionics Engineering, Ministry of Education of China, Changchun, China","School of Communications Engineering, Jilin University, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionics Engineering, Ministry of Education of China, Changchun, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Communications Engineering, Jilin University, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100886284","display_name":"Yantao Tian","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yantao Tian","raw_affiliation_strings":["Key Laboratory of Bionics Engineering, Ministry of Education of China, Changchun, China","School of Communications Engineering, Jilin University, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Bionics Engineering, Ministry of Education of China, Changchun, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Communications Engineering, Jilin University, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112646206","display_name":"Xiaoliang Huang","orcid":"https://orcid.org/0000-0001-7979-7398"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoliang Huang","raw_affiliation_strings":["School of Communications Engineering, Jilin University, China"],"affiliations":[{"raw_affiliation_string":"School of Communications Engineering, Jilin University, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003693483","display_name":"Hongshuai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongshuai Chen","raw_affiliation_strings":["School of Communications Engineering, Jilin University, China"],"affiliations":[{"raw_affiliation_string":"School of Communications Engineering, Jilin University, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101776747"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":0.2111,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.61176771,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1281","last_page":"1286"},"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":0.9914000034332275,"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":0.9488000273704529,"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/foot","display_name":"Foot (prosody)","score":0.6577054858207703},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.6367906332015991},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5621452927589417},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5267074704170227},{"id":"https://openalex.org/keywords/heel","display_name":"Heel","score":0.513410210609436},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49147188663482666},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4831063747406006},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48168501257896423},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4561369717121124},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4263955354690552},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4209742844104767},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22229310870170593},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20217418670654297},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.18968769907951355},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.18357589840888977},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12135851383209229},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.07757526636123657}],"concepts":[{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.6577054858207703},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.6367906332015991},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5621452927589417},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5267074704170227},{"id":"https://openalex.org/C2777248721","wikidata":"https://www.wikidata.org/wiki/Q174647","display_name":"Heel","level":2,"score":0.513410210609436},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49147188663482666},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4831063747406006},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48168501257896423},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4561369717121124},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4263955354690552},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4209742844104767},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22229310870170593},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20217418670654297},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.18968769907951355},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.18357589840888977},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12135851383209229},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07757526636123657},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723513","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723513","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W1480972621","https://openalex.org/W2029058516","https://openalex.org/W2029758838","https://openalex.org/W2043792506","https://openalex.org/W2061012438","https://openalex.org/W2079492494","https://openalex.org/W2080826208","https://openalex.org/W2092398495","https://openalex.org/W2106300679","https://openalex.org/W2107149337","https://openalex.org/W2112095370","https://openalex.org/W2125873457","https://openalex.org/W2128532136","https://openalex.org/W2142620277","https://openalex.org/W2145221543","https://openalex.org/W2163668399","https://openalex.org/W2366652167","https://openalex.org/W6602037555"],"related_works":["https://openalex.org/W2423203884","https://openalex.org/W1674176876","https://openalex.org/W2411329941","https://openalex.org/W2141376040","https://openalex.org/W2329465293","https://openalex.org/W2066354772","https://openalex.org/W1967218338","https://openalex.org/W2013498601","https://openalex.org/W2665853501","https://openalex.org/W4313149239"],"abstract_inverted_index":{"When":[0],"human":[1],"walks":[2],"down":[3],"a":[4,31],"slope,":[5],"the":[6,11,19,22,51,57,61,66,69,81,84,99],"center":[7],"of":[8,10,33,47,54,93],"gravity":[9],"body":[12],"leans":[13],"backward":[14],"to":[15,76,106,117],"keep":[16],"balance,":[17],"meanwhile":[18],"friction":[20],"between":[21],"heel":[23,82],"and":[24,65,87,98,119],"ground":[25],"is":[26,40,63,96,110],"increased.":[27],"Considering":[28],"this":[29,43],"situation,":[30],"model":[32],"passive":[34,48,122],"kneed":[35],"biped":[36],"with":[37],"fixed":[38],"feet":[39],"modeled":[41],"in":[42,80],"paper.":[44],"This":[45],"type":[46],"models":[49],"compensates":[50],"lost":[52,79],"energy":[53,59,78,88],"collision":[55],"by":[56,91],"potential":[58],"when":[60],"knee":[62],"locked":[64],"foot":[67,73,94,108],"impacts":[68],"ground.":[70],"Since":[71],"different":[72,77,107],"shapes":[74,95],"lead":[75],"collisions,":[83],"walking":[85,123],"speed":[86],"consumption":[89],"effected":[90],"various":[92],"discussed,":[97],"suitable":[100],"slopes":[101],"for":[102],"stable":[103],"gait":[104],"corresponding":[105],"parameters":[109],"given.":[111],"And":[112],"these":[113],"results":[114],"are":[115],"positive":[116],"design":[118],"debug":[120],"our":[121],"prototype.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
