{"id":"https://openalex.org/W2119105564","doi":"https://doi.org/10.1109/robot.2004.1302452","title":"Actuating a simple 3D passive dynamic walker","display_name":"Actuating a simple 3D passive dynamic walker","publication_year":2004,"publication_date":"2004-01-01","ids":{"openalex":"https://openalex.org/W2119105564","doi":"https://doi.org/10.1109/robot.2004.1302452","mag":"2119105564"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2004.1302452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","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/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"R. Tedrake","raw_affiliation_strings":["Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Computer Science and Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074781984","display_name":"Tianbao Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"T.W. Zhang","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082041742","display_name":"Ming\u2010fai Fong","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ming-fai Fong","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075369363","display_name":"H. Sebastian Seung","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I1344073410","display_name":"Howard Hughes Medical Institute","ror":"https://ror.org/006w34k90","country_code":"US","type":"facility","lineage":["https://openalex.org/I1344073410"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H.S. Seung","raw_affiliation_strings":["Howard Hughes Medical Institute Brain & Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Howard Hughes Medical Institute Brain & Cognitive Sciences, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I1344073410","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5074291890"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":10.1092,"has_fulltext":false,"cited_by_count":188,"citation_normalized_percentile":{"value":0.98695899,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4656","last_page":"4661 Vol.5"},"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":0.9922999739646912,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9825000166893005,"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":0.737152099609375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6963306665420532},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6439332365989685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5715055465698242},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.5560198426246643},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5202518701553345},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5123203992843628},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.47051921486854553},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.4454786479473114},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4368998110294342},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.43573856353759766},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42681753635406494},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40031567215919495},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3853261172771454},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3767543435096741},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27620887756347656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2490239441394806},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23130464553833008},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1417790651321411}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.737152099609375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6963306665420532},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6439332365989685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5715055465698242},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.5560198426246643},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5202518701553345},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5123203992843628},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.47051921486854553},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.4454786479473114},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4368998110294342},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.43573856353759766},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42681753635406494},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40031567215919495},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3853261172771454},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3767543435096741},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27620887756347656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2490239441394806},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23130464553833008},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1417790651321411},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2004.1302452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2004.1302452","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.164.2282","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.164.2282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robot-learning.de/pmwiki/uploads/Research/LocomotionSeminar/TedrakeIcra2004.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.69.9266","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.69.9266","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hebb.mit.edu/people/seung/papers/icra04.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W20884579","https://openalex.org/W1639534865","https://openalex.org/W1686197137","https://openalex.org/W1829015105","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W2041459584","https://openalex.org/W2107610091","https://openalex.org/W2115693880","https://openalex.org/W2122368344","https://openalex.org/W2127197062","https://openalex.org/W2153763008","https://openalex.org/W2161427949","https://openalex.org/W2163668399","https://openalex.org/W2315695414","https://openalex.org/W2914669743","https://openalex.org/W6638425340"],"related_works":["https://openalex.org/W2153315991","https://openalex.org/W2029311298","https://openalex.org/W1527701538","https://openalex.org/W2114428766","https://openalex.org/W4297944487","https://openalex.org/W2146332669","https://openalex.org/W1514516386","https://openalex.org/W4383108368","https://openalex.org/W26626853","https://openalex.org/W3001867454"],"abstract_inverted_index":{"The":[0,97],"passive":[1,43],"dynamic":[2,26,33],"walker":[3],"described":[4],"in":[5],"this":[6],"paper":[7],"is":[8,20,49,107,112],"a":[9,12,65,145],"robot":[10,90,106,124,135],"with":[11],"minimal":[13],"number":[14],"of":[15,17,23,40,69,78,88,104,117,122],"degrees":[16,116],"freedom":[18],"which":[19,132],"still":[21],"capable":[22],"stable":[24],"3D":[25],"walking.":[27],"First,":[28],"we":[29,83],"present":[30,84],"the":[31,38,41,53,58,76,79,89,101,105,119,123,134],"reduced-order":[32],"models":[34],"used":[35],"to":[36,52,129,136],"tune":[37],"characteristics":[39],"robot's":[42],"gait.":[44],"Our":[45],"sagittal":[46],"plane":[47],"model":[48],"closely":[50],"related":[51],"compass":[54],"gait":[55],"model,":[56],"but":[57],"steady":[59],"state":[60],"trajectory":[61],"passively":[62],"converges":[63],"from":[64],"much":[66],"larger":[67],"range":[68],"initial":[70],"conditions.":[71],"We":[72],"then":[73],"experimentally":[74],"quantify":[75],"stability":[77],"mechanical":[80,120],"device.":[81],"Finally,":[82],"an":[85],"actuated":[86,102],"version":[87,103],"and":[91,142],"some":[92],"preliminary":[93],"active":[94],"control":[95,98],"strategies.":[96],"problem":[99],"for":[100],"interesting":[108],"because":[109],"although":[110],"it":[111,126],"theoretically":[113],"challenging":[114],"(4":[115],"under-actuation),":[118],"design":[121],"made":[125],"relatively":[127],"easy":[128],"create":[130],"controllers":[131],"allowed":[133],"walk":[137],"stably":[138],"on":[139],"flat":[140],"terrain":[141],"even":[143],"up":[144],"small":[146],"slope.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":8},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":12},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":8},{"year":2014,"cited_by_count":9},{"year":2013,"cited_by_count":9},{"year":2012,"cited_by_count":8}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
