{"id":"https://openalex.org/W2141016445","doi":"https://doi.org/10.1017/s0263574708004906","title":"The effects of parameter variation on the gaits of passive walking models: simulations and experiments","display_name":"The effects of parameter variation on the gaits of passive walking models: simulations and experiments","publication_year":2008,"publication_date":"2008-08-14","ids":{"openalex":"https://openalex.org/W2141016445","doi":"https://doi.org/10.1017/s0263574708004906","mag":"2141016445"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574708004906","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004906","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5041853363","display_name":"Ning Liu","orcid":"https://orcid.org/0000-0003-0418-4516"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Ning","raw_affiliation_strings":["School of Aerospace, Tsinghua University, Beijing, China","School of Aerospace, Tsinghua University, Beijing, CHINA"],"affiliations":[{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, CHINA","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450045","display_name":"Junfeng Li","orcid":"https://orcid.org/0000-0001-7672-5049"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Junfeng","raw_affiliation_strings":["School of Aerospace, Tsinghua University, Beijing, China","School of Aerospace, Tsinghua University, Beijing, CHINA"],"affiliations":[{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, CHINA","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":null,"display_name":"Wang Tianshu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wang Tianshu","raw_affiliation_strings":["School of Aerospace, Tsinghua University, Beijing, China","School of Aerospace, Tsinghua University, Beijing, CHINA"],"affiliations":[{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]},{"raw_affiliation_string":"School of Aerospace, Tsinghua University, Beijing, CHINA","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.4995,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":{"value":0.70957538,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"27","issue":"4","first_page":"511","last_page":"528"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9864000082015991,"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":0.9822999835014343,"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/robustness","display_name":"Robustness (evolution)","score":0.6507624983787537},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6022030115127563},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.5899754762649536},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5541068911552429},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5037485957145691},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.47261929512023926},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4504474401473999},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4328412115573883},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38954561948776245},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.34298574924468994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2493135631084442},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21531689167022705},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1920163631439209},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09227561950683594},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07898551225662231}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6507624983787537},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6022030115127563},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.5899754762649536},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5541068911552429},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5037485957145691},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.47261929512023926},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4504474401473999},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4328412115573883},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38954561948776245},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.34298574924468994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2493135631084442},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21531689167022705},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1920163631439209},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09227561950683594},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07898551225662231},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574708004906","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574708004906","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5400000214576721}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W37667216","https://openalex.org/W193172831","https://openalex.org/W1526187193","https://openalex.org/W1595500933","https://openalex.org/W1989019843","https://openalex.org/W1996763811","https://openalex.org/W2016102421","https://openalex.org/W2029058516","https://openalex.org/W2030087773","https://openalex.org/W2044900418","https://openalex.org/W2065942939","https://openalex.org/W2074686910","https://openalex.org/W2079908361","https://openalex.org/W2087707177","https://openalex.org/W2099447959","https://openalex.org/W2101044405","https://openalex.org/W2136143868","https://openalex.org/W2148966638","https://openalex.org/W2163668399","https://openalex.org/W2170642268","https://openalex.org/W2480794012"],"related_works":["https://openalex.org/W2049247410","https://openalex.org/W1486724195","https://openalex.org/W2318265355","https://openalex.org/W1976557033","https://openalex.org/W560737017","https://openalex.org/W2028191919","https://openalex.org/W4200464353","https://openalex.org/W2285922472","https://openalex.org/W2366076529","https://openalex.org/W4379743905"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1,279],"have":[2,52,243,255,280,300],"made":[3],"a":[4,11,108,136,194,205,223,256,296,309,333],"systematic":[5],"study":[6],"of":[7,10,32,39,60,62,73,81,88,111,129,132,139,160,201,208,216,231,233,288,305,323,343,353],"the":[8,27,30,33,37,45,49,54,58,63,71,74,79,86,92,127,130,176,182,191,245,271,274,282,285,289,303,306,318,321,324,341,351,354],"gait":[9,93],"straight":[12],"leg":[13],"planar":[14],"passive":[15],"walking":[16,46,64,120,221],"model":[17,105,192,319],"through":[18],"simulations":[19,161],"and":[20,36,57,101,116,198,260,299,345],"experiments.":[21],"Three":[22],"normalised":[23],"parameters,":[24],"which":[25,248],"represent":[26],"foot":[28,196,293,335],"radius,":[29],"position":[31,200],"mass":[34,202],"centre":[35,203],"moment":[38,215,232],"inertia,":[40],"are":[41,235,356],"used":[42],"to":[43,154,179,268],"characterise":[44],"model.":[47],"In":[48],"simulation,":[50],"we":[51,84,142],"obtained":[53],"fixed":[55,82,124],"points":[56],"basins":[59],"attraction":[61,112,133,344],"models":[65,251,290,307],"with":[66,145,151,162,193,252,284,291,311],"different":[67,292],"parameter":[68,89,171],"combinations":[69],"by":[70],"aid":[72],"cell":[75],"mapping":[76],"method.":[77],"With":[78],"results":[80,188,330],"points,":[83],"investigated":[85],"effects":[87],"variations":[90],"on":[91,210,222,295,308,347],"descriptors,":[94],"including":[95],"step":[96,258],"length,":[97],"period,":[98],"average":[99],"speed":[100],"energy":[102],"inefficiency.":[103],"A":[104,213],"that":[106,175,190,250,317,332],"has":[107,113,204],"large":[109,214,334],"basin":[110,131,342],"been":[114],"obtained,":[115],"it":[117],"can":[118],"start":[119],"far":[121],"from":[122],"its":[123],"point.":[125],"However,":[126,263],"size":[128],"is":[134,218,337],"not":[135],"good":[137,236,338],"measurement":[138],"robustness.":[140,156],"Thus,":[141],"proposed":[143],"floors":[144],"random":[146,152,224,239,312],"slope":[147,225,313],"angles":[148],"or":[149],"stairs":[150],"heights":[153],"test":[155],"Five":[157],"hundred":[158],"times":[159,174,316],"100":[163],"non-dimensional":[164],"time":[165],"units":[166],"were":[167,184,266,276,326],"implemented":[168],"for":[169,220,237,339],"each":[170],"combination.":[172],"The":[173,186,315,328],"walker":[177],"failed":[178],"arrive":[180],"at":[181],"end":[183,322],"recorded.":[185,327],"simulation":[187,246],"showed":[189,249,331],"larger":[195,253],"radius":[197,336],"higher":[199],"lower":[206],"possibility":[207],"falling":[209],"uneven":[211,348],"floors.":[212,349],"inertia":[217,234],"helpful":[219],"angle":[226],"floor,":[227,298],"while":[228],"low":[229],"values":[230],"navigating":[238],"stairs.":[240],"Prototype":[241],"experiments":[242,272],"validated":[244],"results,":[247],"feet":[254],"longer":[257],"length":[259],"high":[261],"speed.":[262],"period":[264],"differences":[265,275],"difficult":[267],"obtain":[269],"in":[270],"since":[273],"very":[277],"small.":[278],"tested":[281,302],"sensitivity":[283],"initial":[286],"conditions":[287],"radii":[294],"flat":[297],"also":[301],"robustness":[304,346],"floor":[310,325],"angles.":[314],"reached":[320],"experimental":[329],"improving":[340],"Finally,":[350],"exceptions":[352],"experiment":[355],"explained.":[357]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":4}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
