{"id":"https://openalex.org/W2100430151","doi":"https://doi.org/10.1142/s021984361000209x","title":"EFFECTS OF FOOT SHAPE ON ENERGETIC EFFICIENCY AND DYNAMIC STABILITY OF PASSIVE DYNAMIC BIPED WITH UPPER BODY","display_name":"EFFECTS OF FOOT SHAPE ON ENERGETIC EFFICIENCY AND DYNAMIC STABILITY OF PASSIVE DYNAMIC BIPED WITH UPPER BODY","publication_year":2010,"publication_date":"2010-06-01","ids":{"openalex":"https://openalex.org/W2100430151","doi":"https://doi.org/10.1142/s021984361000209x","mag":"2100430151"},"language":"en","primary_location":{"id":"doi:10.1142/s021984361000209x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361000209x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5025723618","display_name":"Qining Wang","orcid":"https://orcid.org/0000-0003-3484-4810"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"QINING WANG","raw_affiliation_strings":["Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101484185","display_name":"Yan Huang","orcid":"https://orcid.org/0000-0002-6083-1039"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"YAN HUANG","raw_affiliation_strings":["Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101302572","display_name":"Jinying Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"JINYING ZHU","raw_affiliation_strings":["Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"Laboratory of Intelligent Systems and Human Engineering, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"LONG WANG","raw_affiliation_strings":["Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","[Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]},{"raw_affiliation_string":"[Intelligent Control Laboratory, College of Engineering, Peking University, Beijing 100871, China]","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037425961","display_name":"Dongjiao Lv","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"DONGJIAO LV","raw_affiliation_strings":["Department of Biomedical Engineering, Peking University, Beijing 100871, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, Peking University, Beijing 100871, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025723618"],"corresponding_institution_ids":["https://openalex.org/I20231570"],"apc_list":null,"apc_paid":null,"fwci":1.5216,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.82894279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"07","issue":"02","first_page":"295","last_page":"313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9836999773979187,"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":0.9563999772071838,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6756893396377563},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6440812349319458},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6212478876113892},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.49597129225730896},{"id":"https://openalex.org/keywords/dynamic-simulation","display_name":"Dynamic simulation","score":0.4404492974281311},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.42454782128334045},{"id":"https://openalex.org/keywords/upper-body","display_name":"Upper body","score":0.41911154985427856},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40116098523139954},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1798393726348877},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07646611332893372},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0632021427154541},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.05501410365104675}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6756893396377563},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6440812349319458},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6212478876113892},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.49597129225730896},{"id":"https://openalex.org/C149808339","wikidata":"https://www.wikidata.org/wiki/Q5319019","display_name":"Dynamic simulation","level":2,"score":0.4404492974281311},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.42454782128334045},{"id":"https://openalex.org/C2992583082","wikidata":"https://www.wikidata.org/wiki/Q9645","display_name":"Upper body","level":3,"score":0.41911154985427856},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40116098523139954},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1798393726348877},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07646611332893372},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0632021427154541},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.05501410365104675},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C153396756","wikidata":"https://www.wikidata.org/wiki/Q1785966","display_name":"Physical strength","level":2,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s021984361000209x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984361000209x","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.6600000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324787","display_name":"Peking University","ror":"https://ror.org/02v51f717"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W134583146","https://openalex.org/W1632660198","https://openalex.org/W1979805297","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W1997216755","https://openalex.org/W2007008579","https://openalex.org/W2012187119","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2071307076","https://openalex.org/W2079492494","https://openalex.org/W2113647903","https://openalex.org/W2130147724","https://openalex.org/W2139122030","https://openalex.org/W2148966638","https://openalex.org/W2155734401","https://openalex.org/W2163668399","https://openalex.org/W2477244626","https://openalex.org/W2560671010","https://openalex.org/W4247710350"],"related_works":["https://openalex.org/W4233304828","https://openalex.org/W4239268637","https://openalex.org/W1977819874","https://openalex.org/W2952841825","https://openalex.org/W2051296765","https://openalex.org/W2960878236","https://openalex.org/W153449849","https://openalex.org/W2085176909","https://openalex.org/W2792365087","https://openalex.org/W3014964539"],"abstract_inverted_index":{"Passive":[0],"dynamic":[1,31,82,87,103,107],"walking":[2,40],"has":[3,54],"been":[4],"developed":[5],"as":[6],"a":[7,85],"possible":[8],"explanation":[9],"for":[10,84],"the":[11,14,22,99],"efficiency":[12,29,80,101],"of":[13,24,33,78,105],"human":[15],"gait.":[16],"In":[17],"this":[18],"paper,":[19],"we":[20],"investigate":[21],"effects":[23],"foot":[25,71],"shape":[26],"on":[27],"energetic":[28,79,100],"and":[30,47,81,102],"stability":[32,83,104],"passivity-based":[34],"bipeds":[35],"with":[36,42,89],"upper":[37,56,90],"body.":[38,91],"Three":[39],"models":[41],"point":[43],"feet,":[44],"round":[45],"feet":[46,49,96],"flat":[48],"were":[50],"presented.":[51],"Each":[52],"model":[53],"an":[55],"body":[57],"constrained":[58],"to":[59,68],"keep":[60],"midway":[61],"between":[62],"legs.":[63],"We":[64],"use":[65],"computer":[66],"simulations":[67],"find":[69],"which":[70],"shapes":[72],"are":[73],"indeed":[74],"optimal":[75],"in":[76],"view":[77],"passive":[86,106],"biped":[88],"Simulation":[92],"results":[93],"indicate":[94],"that":[95],"improve":[97],"both":[98],"bipeds.":[108]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
