{"id":"https://openalex.org/W7128505627","doi":"https://doi.org/10.48550/arxiv.2602.07158","title":"A compliant ankle-actuated compass walker with triggering timing control","display_name":"A compliant ankle-actuated compass walker with triggering timing control","publication_year":2026,"publication_date":"2026-02-06","ids":{"openalex":"https://openalex.org/W7128505627","doi":"https://doi.org/10.48550/arxiv.2602.07158"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.07158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.07158","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.07158","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014063165","display_name":"Deniz Kerimo\u011flu","orcid":"https://orcid.org/0000-0002-1193-4680"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kerimoglu, Deniz","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5104591290","display_name":"Ismail Uyanik","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Uyanik, Ismail","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.8769999742507935,"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":0.8769999742507935,"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":0.1096000000834465,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6353999972343445},{"id":"https://openalex.org/keywords/compass","display_name":"Compass","score":0.593500018119812},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5634999871253967},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5327000021934509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5065000057220459},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.3995000123977661},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3871999979019165},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.373199999332428}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6353999972343445},{"id":"https://openalex.org/C2778361833","wikidata":"https://www.wikidata.org/wiki/Q34735","display_name":"Compass","level":2,"score":0.593500018119812},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5634999871253967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5533000230789185},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5327000021934509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5065000057220459},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49309998750686646},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.3995000123977661},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3871999979019165},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.373199999332428},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.361299991607666},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35420000553131104},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.334199994802475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.3222000002861023},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.3125999867916107},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29100000858306885},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2842000126838684},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.28139999508857727},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.2711000144481659}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.07158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.07158","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.07158","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.07158","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"score":0.6200177073478699,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Passive":[0],"dynamic":[1],"walkers":[2],"are":[3,74],"widely":[4],"adopted":[5],"as":[6,31],"a":[7,80,84,130],"mathematical":[8],"model":[9,86,132],"to":[10,22,42,49,77,134],"represent":[11],"biped":[12,131],"walking.":[13],"The":[14,103],"stable":[15],"locomotion":[16,57,127,146],"of":[17,46,61,129,150,154,156],"these":[18,47,62],"models":[19,48],"is":[20,87],"limited":[21],"tilted":[23],"surfaces,":[24],"requiring":[25],"gravitational":[26],"energy.":[27],"Various":[28],"techniques,":[29],"such":[30],"actuation":[32],"through":[33],"the":[34,44,122,126,145,157],"ankle":[35,92,101,136],"and":[36,52,70,152],"hip":[37],"joints,":[38],"have":[39],"been":[40],"proposed":[41,104,123,158],"extend":[43],"applicability":[45],"level":[50],"ground":[51],"rough":[53],"terrain":[54],"with":[55],"improved":[56],"efficiency.":[58],"However,":[59],"most":[60],"techniques":[63],"rely":[64],"on":[65],"impulsive":[66,135],"energy":[67],"injection":[68],"schemes":[69],"torsional":[71],"springs,":[72],"which":[73,97],"quite":[75],"challenging":[76],"implement":[78],"in":[79,109],"physical":[81,110],"platform.":[82],"Here,":[83],"new":[85],"proposed,":[88],"named":[89],"triggering":[90],"controlled":[91],"actuated":[93],"compass":[94],"gait":[95],"(TC-AACG),":[96],"allows":[98],"non-instantaneous":[99],"compliant":[100],"pushoff.":[102],"technique":[105],"can":[106],"be":[107],"implemented":[108],"platforms":[111],"via":[112],"series":[113],"elastic":[114],"actuators":[115],"(SEAs).":[116],"Our":[117],"systematic":[118],"examination":[119],"shows":[120],"that":[121],"approach":[124],"extends":[125],"capabilities":[128],"compared":[133],"pushoff":[137],"approach.":[138],"We":[139],"provide":[140],"extensive":[141],"simulation":[142],"analysis":[143],"investigating":[144],"speed,":[147],"mechanical":[148],"cost":[149],"transport,":[151],"basin":[153],"attraction":[155],"model.":[159]},"counts_by_year":[],"updated_date":"2026-08-16T07:02:28.622633","created_date":"2026-02-11T00:00:00"}
