{"id":"https://openalex.org/W1603553962","doi":"https://doi.org/10.23919/ecc.2003.7085232","title":"Nearly passive dynamic walking of a biped robot","display_name":"Nearly passive dynamic walking of a biped robot","publication_year":2003,"publication_date":"2003-09-01","ids":{"openalex":"https://openalex.org/W1603553962","doi":"https://doi.org/10.23919/ecc.2003.7085232","mag":"1603553962"},"language":"en","primary_location":{"id":"doi:10.23919/ecc.2003.7085232","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2003.7085232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 European Control Conference (ECC)","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/A5017835527","display_name":"Nahla Khraief","orcid":null},"institutions":[{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Khraief","raw_affiliation_strings":["Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, V\u00e9lizy","Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l'Europe 78140 V\u00e9lizy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, V\u00e9lizy","institution_ids":["https://openalex.org/I195731000"]},{"raw_affiliation_string":"Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l'Europe 78140 V\u00e9lizy","institution_ids":["https://openalex.org/I195731000"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066013027","display_name":"N.K. M\u2019Sirdi","orcid":"https://orcid.org/0000-0002-9485-6429"},"institutions":[{"id":"https://openalex.org/I195731000","display_name":"Universit\u00e9 de Versailles Saint-Quentin-en-Yvelines","ror":"https://ror.org/03mkjjy25","country_code":"FR","type":"education","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. K. M'Sirdi","raw_affiliation_strings":["Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, V\u00e9lizy","Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l'Europe 78140 V\u00e9lizy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, V\u00e9lizy","institution_ids":["https://openalex.org/I195731000"]},{"raw_affiliation_string":"Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l'Europe 78140 V\u00e9lizy","institution_ids":["https://openalex.org/I195731000"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079586632","display_name":"Mark W. Spong","orcid":"https://orcid.org/0000-0003-4626-2295"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"M. W. Spong","raw_affiliation_strings":["Coordinated Science Laboratory, University of Illinois, Urbana, IL","Coordinated Science Laboratory, University of Illinois 1308 W. Main St, Urbana, IL 61801"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois, Urbana, IL","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Coordinated Science Laboratory, University of Illinois 1308 W. Main St, Urbana, IL 61801","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1832","last_page":"1838"},"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":0.9883000254631042,"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":0.9793999791145325,"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/torso","display_name":"Torso","score":0.9657551050186157},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.8094927072525024},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6653561592102051},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6133686304092407},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5357394218444824},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5117337703704834},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5091497302055359},{"id":"https://openalex.org/keywords/gait-cycle","display_name":"Gait cycle","score":0.4961765706539154},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4882631301879883},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4498912990093231},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4496128261089325},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3201226592063904},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2373124361038208},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2110273838043213},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.20947787165641785},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20749059319496155},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13099277019500732},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10081636905670166}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9657551050186157},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.8094927072525024},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6653561592102051},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6133686304092407},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5357394218444824},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5117337703704834},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5091497302055359},{"id":"https://openalex.org/C2985215115","wikidata":"https://www.wikidata.org/wiki/Q22305006","display_name":"Gait cycle","level":3,"score":0.4961765706539154},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4882631301879883},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4498912990093231},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4496128261089325},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3201226592063904},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2373124361038208},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2110273838043213},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.20947787165641785},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20749059319496155},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13099277019500732},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10081636905670166},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.23919/ecc.2003.7085232","is_oa":false,"landing_page_url":"https://doi.org/10.23919/ecc.2003.7085232","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2003 European Control Conference (ECC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.6800000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W129037336","https://openalex.org/W1532219997","https://openalex.org/W1823805402","https://openalex.org/W1979422127","https://openalex.org/W2015689071","https://openalex.org/W2016102421","https://openalex.org/W2063866062","https://openalex.org/W2085746528","https://openalex.org/W2137547873","https://openalex.org/W2151794043","https://openalex.org/W2153763008","https://openalex.org/W2158185825","https://openalex.org/W2162767308","https://openalex.org/W2171178105","https://openalex.org/W2325865751"],"related_works":["https://openalex.org/W3134497028","https://openalex.org/W2390475535","https://openalex.org/W1603553962","https://openalex.org/W2536500502","https://openalex.org/W2611160909","https://openalex.org/W3017911271","https://openalex.org/W2913503957","https://openalex.org/W2995649005","https://openalex.org/W2027166246","https://openalex.org/W2600139093"],"abstract_inverted_index":{"The":[0],"focus":[1],"of":[2,8,13],"this":[3],"work":[4],"is":[5],"a":[6,14,27,44],"study":[7],"the":[9,33,36,39],"passive":[10],"dynamic":[11],"walking":[12],"kneeless":[15],"biped":[16,40],"robot":[17,41],"with":[18],"torso":[19,34],"on":[20],"inclined":[21],"slopes.":[22],"We":[23],"show":[24],"that":[25],"under":[26],"simple":[28],"PD":[29],"control":[30],"applied":[31],"between":[32],"and":[35],"stance":[37],"leg":[38],"converges":[42],"at":[43],"stable":[45],"gait":[46],"cycle.":[47]},"counts_by_year":[{"year":2015,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
