{"id":"https://openalex.org/W4294692016","doi":"https://doi.org/10.23919/acc53348.2022.9867274","title":"A necessary condition for passive dynamic walking","display_name":"A necessary condition for passive dynamic walking","publication_year":2022,"publication_date":"2022-06-08","ids":{"openalex":"https://openalex.org/W4294692016","doi":"https://doi.org/10.23919/acc53348.2022.9867274"},"language":"en","primary_location":{"id":"doi:10.23919/acc53348.2022.9867274","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867274","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","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/A5036225483","display_name":"Yasushi Iwatani","orcid":"https://orcid.org/0000-0003-1446-8176"},"institutions":[{"id":"https://openalex.org/I146516829","display_name":"Hirosaki University","ror":"https://ror.org/02syg0q74","country_code":"JP","type":"education","lineage":["https://openalex.org/I146516829"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasushi Iwatani","raw_affiliation_strings":["Hirosaki University,Department of Science and Technology,Hirosaki,Japan","Department of Science and Technology, Hirosaki University, Hirosaki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hirosaki University,Department of Science and Technology,Hirosaki,Japan","institution_ids":["https://openalex.org/I146516829"]},{"raw_affiliation_string":"Department of Science and Technology, Hirosaki University, Hirosaki, Japan","institution_ids":["https://openalex.org/I146516829"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066849301","display_name":"Tetsuya KINUGASA","orcid":"https://orcid.org/0000-0001-9225-4419"},"institutions":[{"id":"https://openalex.org/I136446963","display_name":"Okayama University of Science","ror":"https://ror.org/05aevyc10","country_code":"JP","type":"education","lineage":["https://openalex.org/I136446963"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tetsuya Kinugasa","raw_affiliation_strings":["Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan","Department of Mechanical Systems Engineering, Okayama University of Science, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Okayama University of Science,Department of Mechanical Systems Engineering,Okayama,Japan","institution_ids":["https://openalex.org/I136446963"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Okayama University of Science, Okayama, Japan","institution_ids":["https://openalex.org/I136446963"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.4685,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.80662983,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1885","last_page":"1890"},"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":0.9847000241279602,"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":0.9794999957084656,"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/control-theory","display_name":"Control theory (sociology)","score":0.6191837191581726},{"id":"https://openalex.org/keywords/multibody-system","display_name":"Multibody system","score":0.5856814384460449},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.572171688079834},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.517273485660553},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159621834754944},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4621843099594116},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.4591817557811737},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3705587685108185},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22922435402870178},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.21809116005897522},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1767151951789856},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08498099446296692},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06616365909576416}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6191837191581726},{"id":"https://openalex.org/C67865112","wikidata":"https://www.wikidata.org/wiki/Q1917564","display_name":"Multibody system","level":2,"score":0.5856814384460449},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.572171688079834},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.517273485660553},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159621834754944},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4621843099594116},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.4591817557811737},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3705587685108185},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22922435402870178},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.21809116005897522},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1767151951789856},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08498099446296692},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06616365909576416},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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:10.23919/acc53348.2022.9867274","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc53348.2022.9867274","pdf_url":null,"source":{"id":"https://openalex.org/S4363607732","display_name":"2022 American Control Conference (ACC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 American Control Conference (ACC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W50292030","https://openalex.org/W1991852610","https://openalex.org/W2016102421","https://openalex.org/W2029742263","https://openalex.org/W2070038508","https://openalex.org/W2074686910","https://openalex.org/W2137547873","https://openalex.org/W2163668399","https://openalex.org/W2496648954","https://openalex.org/W2605188590","https://openalex.org/W2695748135","https://openalex.org/W2738232579","https://openalex.org/W2797760764","https://openalex.org/W2904395776","https://openalex.org/W2974341933","https://openalex.org/W2999965710","https://openalex.org/W3025228356","https://openalex.org/W3105773769","https://openalex.org/W3112747312","https://openalex.org/W3130328518","https://openalex.org/W3174058348","https://openalex.org/W3202951260","https://openalex.org/W6602037555"],"related_works":["https://openalex.org/W2219662543","https://openalex.org/W2136413385","https://openalex.org/W365879914","https://openalex.org/W603532653","https://openalex.org/W2083155937","https://openalex.org/W2092418052","https://openalex.org/W4213323354","https://openalex.org/W4297408427","https://openalex.org/W263982199","https://openalex.org/W2339217605"],"abstract_inverted_index":{"Passive":[0],"dynamic":[1,147],"walking":[2],"is":[3,58,63,79,139],"a":[4,10,68,94,116,133,141],"form":[5],"of":[6,105],"locomotion":[7],"generated":[8],"by":[9,26,92],"dynamical":[11],"interaction":[12],"between":[13],"environments":[14],"and":[15,108,118],"passive":[16,146],"legged":[17],"robots.":[18],"Its":[19,84],"dynamics":[20,31,86,99],"at":[21,53,87],"foot":[22,54,88,106],"strike":[23,89],"are":[24,90],"governed":[25],"impact":[27,109],"forces.":[28],"The":[29,130,136],"impulsive":[30,85,113,123],"have":[32],"been":[33],"modeled":[34,91],"in":[35,71,81,111,128],"several":[36],"approaches,":[37],"where":[38],"all":[39],"the":[40,44,51,61,103,112,122],"approaches":[41],"assume":[42],"that":[43],"stance":[45],"leg":[46],"instantaneously":[47],"loses":[48],"contact":[49],"with":[50,100],"ground":[52],"strike;":[55],"however,":[56],"it":[57],"unclear":[59],"when":[60],"assumption":[62],"satisfied.":[64],"This":[65],"paper":[66],"derives":[67],"loss-of-contact":[69,134],"condition":[70,120,131,138,143],"closed-form":[72],"as":[73],"follows.":[74],"A":[75],"compass-like":[76],"biped":[77],"robot":[78],"considered":[80],"this":[82],"paper.":[83],"using":[93],"modeling":[95],"framework":[96],"for":[97,121,144],"multibody":[98],"impact.":[101],"Examining":[102],"validity":[104],"velocities":[107],"forces":[110],"model":[114,124],"provides":[115],"necessary":[117,142],"sufficient":[119],"to":[125],"be":[126],"valid":[127],"closed-form.":[129],"includes":[132],"condition.":[135],"derived":[137],"also":[140],"smooth":[145],"walking.":[148]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}
