{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T02:44:32Z","timestamp":1782355472402,"version":"3.54.5"},"reference-count":39,"publisher":"Springer Science and Business Media LLC","issue":"3-4","license":[{"start":{"date-parts":[[2011,1,18]],"date-time":"2011-01-18T00:00:00Z","timestamp":1295308800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2011,9]]},"DOI":"10.1007\/s10846-010-9524-6","type":"journal-article","created":{"date-parts":[[2011,1,17]],"date-time":"2011-01-17T08:53:12Z","timestamp":1295254392000},"page":"503-523","source":"Crossref","is-referenced-by-count":7,"title":["A New Methodology for the Design of Passive Biped Robots: Determining Conditions on the Robot\u2019s Parameters for the Existence of Stable Walking Cycles"],"prefix":"10.1007","volume":"63","author":[{"given":"Paul","family":"Vallejos","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Javier","family":"Ruiz-del-Solar","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Francisco","family":"Swett","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2011,1,18]]},"reference":[{"key":"9524_CR1","unstructured":"Coleman, M.J.: A stability study of a three-dimensional passive-dynamic model of human gait. Ph.D. Thesis, Cornell University (1998)"},{"issue":"7","key":"9524_CR2","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1177\/02783640122067561","volume":"20","author":"SH Collins","year":"2001","unstructured":"Collins, S.H., Wisse, M., Ruina, A.: A three-dimensional passive-dynamic walking robot with two legs and knees. Int. J. Rob. Res. 20(7), 607\u2013615 (2001)","journal-title":"Int. J. Rob. Res."},{"issue":"5712","key":"9524_CR3","doi-asserted-by":"crossref","first-page":"1082","DOI":"10.1126\/science.1107799","volume":"307","author":"S Collins","year":"2005","unstructured":"Collins, S., Ruina, A., Tedrake, R., Wisse, M.: Efficient bipedal robots based on passive-dynamic walkers. Science 307(5712), 1082\u20131085 (2005)","journal-title":"Science"},{"key":"9524_CR4","unstructured":"Garcia, M.: Stability, scaling, and chaos in passive-dynamic gait models. Ph.d. Thesis, Sibley School of Mechanical and Aerospace Engineering, Cornell University (1999)"},{"key":"9524_CR5","doi-asserted-by":"crossref","unstructured":"Goswami, A., Espiau, B., Keramane, A.: Limit cycles and their stability in a passive bipedal gait. In: Proceedings of the IEEE 1996 International Conference on Robotics and Automation, vol.\u00a01, pp. 246\u2013251. Minneapolis, USA (1996)","DOI":"10.1109\/ROBOT.1996.503785"},{"key":"9524_CR6","unstructured":"Goswami, A., Goswami, A., Thuilot, B., Thuilot, B., Espiau, B., Espiau, B.: Compass-like Biped Robot\u2014Part i: Stability and bifurcation of passive gaits. Tech. Rep. 2996, INRIA: Institut National de Recherche en Informatique et en Automatique (1996)"},{"key":"9524_CR7","doi-asserted-by":"crossref","unstructured":"Grizzle, J., Plestan, F., Abba, G.: Poincare\u2019s method for systems with impulse effects: application to mechanical biped locomotion. In: Proceedings of the 38th IEEE Conference on Decision and Control, vol.\u00a04, pp. 3869\u20133876 (1999)","DOI":"10.1109\/CDC.1999.827961"},{"issue":"1","key":"9524_CR8","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1109\/9.898695","volume":"46","author":"J Grizzle","year":"2001","unstructured":"Grizzle, J., Abba, G., Plestan, F.: Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Automat. Contr. 46(1), 51\u201364 (2001)","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"3","key":"9524_CR9","doi-asserted-by":"crossref","first-page":"513","DOI":"10.1109\/TAC.2001.911439","volume":"46","author":"J Grizzle","year":"2001","unstructured":"Grizzle, J., Abba, G., Plestan, F.: Correction to \u201casymptotically stable walking for biped robots: analysis via systems with impulse effects\u201d. IEEE Trans. Automat. Contr. 46(3), 513\u2013513 (2001)","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9524_CR10","doi-asserted-by":"crossref","unstructured":"Haruna, M., Ogino, M., Hosoda, K., Asada, M.: Yet another humanoid walking\u2014passive dynamic walking with torso under simple control. In: Proceedings of the 2001 IEEE International Conference on Intelligent Robots and Systems, vol.\u00a01, pp. 259\u2013264 (2001)","DOI":"10.1109\/IROS.2001.973368"},{"key":"9524_CR11","unstructured":"Hsu Chen, V.: Passive dynamic walking with knees: a point foot model. Master Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (2007)"},{"key":"9524_CR12","doi-asserted-by":"crossref","unstructured":"Kajita, S., Espiau, B.: Springer Handbook of Robotics, 1st edn., chap.\u00a016, pp. 361\u2013389. Springer (2008)","DOI":"10.1007\/978-3-540-30301-5_17"},{"issue":"9","key":"9524_CR13","doi-asserted-by":"crossref","first-page":"917","DOI":"10.1177\/02783649922066655","volume":"18","author":"AD Kuo","year":"1999","unstructured":"Kuo, A.D.: Stabilization of lateral motion in passive dynamic walking. Int. J. Rob. Res. 18(9), 917\u2013930 (1999)","journal-title":"Int. J. Rob. Res."},{"key":"9524_CR14","unstructured":"McGeer, T.: Passive dynamic walking. Tech. Rep. CSS-ISS TR 88-02, Simon Fraser University, Burnaby, British Columbia, Canada (1988)"},{"key":"9524_CR15","doi-asserted-by":"crossref","unstructured":"McGeer, T.: Passive bipedal running. In: Proceedings of the Royal Society of London, Series B, Biological Sciences, vol. 240, pp. 107\u2013134 (1990)","DOI":"10.1098\/rspb.1990.0030"},{"issue":"2","key":"9524_CR16","doi-asserted-by":"crossref","first-page":"62","DOI":"10.1177\/027836499000900206","volume":"9","author":"T McGeer","year":"1990","unstructured":"McGeer, T.: Passive dynamic walking. Int. J. Rob. Res. 9(2), 62\u201382 (1990)","journal-title":"Int. J. Rob. Res."},{"key":"9524_CR17","unstructured":"McGeer, T.: Passive walking with knees. In: Proceedings of the 1990 IEEE International Conference on Robotics and Automation, vol.\u00a03, pp. 1640\u20131645 (1990)"},{"key":"9524_CR18","doi-asserted-by":"crossref","unstructured":"McGeer, T.: Principles of Walking and Running. Advances in Comparative and Environmental Physiology, vol.\u00a011, chap.\u00a04. Springer-Verlag (1992)","DOI":"10.1007\/978-3-642-76693-0_4"},{"key":"9524_CR19","doi-asserted-by":"crossref","first-page":"277","DOI":"10.1006\/jtbi.1993.1121","volume":"163","author":"T McGeer","year":"1993","unstructured":"McGeer, T.: Dynamics and control of bipedal locomotion. J. Theor. Biol. 163, 277\u2013314 (1993)","journal-title":"J. Theor. Biol."},{"key":"9524_CR20","first-page":"465","volume-title":"Proceedings of the 2nd International Symposium on Experimental Robotics II","author":"T McGeer","year":"1993","unstructured":"McGeer, T.: Passive dynamic biped catalogue, 1991. In: Proceedings of the 2nd International Symposium on Experimental Robotics II, pp. 465\u2013490. Springer-Verlag, London, UK (1993)"},{"issue":"2","key":"9524_CR21","doi-asserted-by":"crossref","first-page":"41","DOI":"10.1109\/MRA.2007.380654","volume":"14","author":"J Morimoto","year":"2007","unstructured":"Morimoto, J., Atkeson, C.: Learning biped locomotion. IEEE Robot. Autom. Mag. 14(2), 41\u201351 (2007)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"9524_CR22","doi-asserted-by":"crossref","unstructured":"Morris, B., Grizzle, J.: A restricted Poincar\u00e9 map for determining exponentially stable periodic orbits in systems with impulse effects: application to bipedal robots. In: 44th IEEE Conference on Decision and Control and 2005 European Control Conference. CDC-ECC \u201905, pp. 4199\u20134206 (2005)","DOI":"10.1109\/CDC.2005.1582821"},{"key":"9524_CR23","doi-asserted-by":"crossref","unstructured":"Morris, B., Grizzle, J.: Hybrid invariance in bipedal robots with series compliant actuators. In: 45th IEEE Conference on Decision and Control, pp. 4793\u20134800 (2006)","DOI":"10.1109\/CDC.2006.376784"},{"issue":"8","key":"9524_CR24","doi-asserted-by":"crossref","first-page":"1751","DOI":"10.1109\/TAC.2009.2024563","volume":"54","author":"B Morris","year":"2009","unstructured":"Morris, B., Grizzle, J.: Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots. IEEE Trans. Automat. Contr. 54(8), 1751\u20131764 (2009)","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9524_CR25","doi-asserted-by":"crossref","unstructured":"Ohta, H., Yamakita, M., Furuta, K.: From passive to active dynamic walking. In: Proceedings of the 38th IEEE Conference on Decision and Control, vol.\u00a04, pp. 3883\u20133885 (1999)","DOI":"10.1109\/CDC.1999.827963"},{"key":"9524_CR26","unstructured":"Paul, C., Yokoi, H., Matsushita, K.: Design and control of humanoid robot locomotion with passive legs and upper body actuation. In: Proceedings of the International Symposium on Robotics. Paris, France (2003)"},{"key":"9524_CR27","unstructured":"Pratt, J.: Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots. Ph.d. Thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (2000)"},{"key":"9524_CR28","doi-asserted-by":"crossref","unstructured":"Tedrake, R.: Actuating a simple 3d passive dynamic walker. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp. 4656\u20134661 (2004)","DOI":"10.1109\/ROBOT.2004.1302452"},{"issue":"1","key":"9524_CR29","doi-asserted-by":"crossref","first-page":"42","DOI":"10.1109\/TAC.2002.806653","volume":"48","author":"E Westervelt","year":"2003","unstructured":"Westervelt, E., Grizzle, J., Koditschek, D.: Hybrid zero dynamics of planar biped walkers. IEEE Trans. Automat. Contr. 48(1), 42\u201356 (2003)","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9524_CR30","doi-asserted-by":"crossref","DOI":"10.1201\/9781420053739","volume-title":"Feedback Control of Dynamic Bipedal Robot Locomotion","author":"ER Westervelt","year":"2007","unstructured":"Westervelt, E.R., Grizzle, J.W., Chevallereau, C., Choi, J.H., Morris, B.: Feedback Control of Dynamic Bipedal Robot Locomotion. CRC Press, Boca Raton, FL (2007)"},{"key":"9524_CR31","unstructured":"Wisse, M.: Essentials of dynamic walking\u2014analysis and design of two-legged robots. Ph.d. Thesis, Faculty of Mechanical Engineering, Technische Universiteit Delft (2004)"},{"key":"9524_CR32","doi-asserted-by":"crossref","unstructured":"Wisse, M.: Three additions to passive dynamic walking; actuation, an upper body, and 3d stability. In: Proceedings of the 2004 IEEE International Conference on Humanoid Robots, vol.\u00a01, pp.\u00a0113\u2013132 (2004)","DOI":"10.1109\/ICHR.2004.1442118"},{"issue":"2","key":"9524_CR33","doi-asserted-by":"crossref","first-page":"52","DOI":"10.1109\/MRA.2007.380639","volume":"14","author":"M Wisse","year":"2007","unstructured":"Wisse, M., Feliksdal, G., Van\u00a0Frankkenhuyzen, J., Moyer, B.: Passive-based walking robot. IEEE Robot. Autom. Mag. 14(2), 52\u201362 (2007)","journal-title":"IEEE Robot. Autom. Mag."},{"key":"9524_CR34","doi-asserted-by":"crossref","unstructured":"Wisse, M., Hobbelen, D., Rotteveel, R., Anderson, S., Zeglin, G.: Ankle springs instead of arc-shaped feet for passive dynamic walkers. In: Proceedings of the 2006 IEEE International Conference on Humanoid Robots, pp. 110\u2013116 (2006)","DOI":"10.1109\/ICHR.2006.321371"},{"key":"9524_CR35","doi-asserted-by":"crossref","unstructured":"Yamasaki, F., Hosoda, K., Asada, M.: An energy consumption based control for humanoid walking. In: Proceedings of the 2002 IEEE International Conference on Intelligent Robots and Systems, vol.\u00a03, pp. 2473\u20132477 (2002)","DOI":"10.1109\/IRDS.2002.1041640"},{"key":"9524_CR36","doi-asserted-by":"crossref","first-page":"60","DOI":"10.1007\/3-540-45603-1_7","volume-title":"RoboCup 2001: Robot Soccer World Cup V","author":"F Yamasaki","year":"2002","unstructured":"Yamasaki, F., Endo, K., Asada, M., Kitano, H.: A control method for humanoid biped walking with limited torque. In: RoboCup 2001: Robot Soccer World Cup V, pp. 60\u201370. Springer-Verlag, London, UK (2002)"},{"issue":"1","key":"9524_CR37","first-page":"60","volume":"23","author":"F Yamasaki","year":"2002","unstructured":"Yamasaki, F., Endo, K., Asada, M., Kitano, H.: An energy-efficient walking for a low-cost humanoid robot pino. AI Mag. 23(1), 60\u201361 (2002)","journal-title":"AI Mag."},{"key":"9524_CR38","doi-asserted-by":"crossref","unstructured":"Yamasaki, F., Endo, K., Kitano, H., Asada, M.: Acquisition of humanoid walking motion using genetic algorithm-considering characteristics of servo modules. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation, vol.\u00a03, pp. 3123\u20133128 (2002)","DOI":"10.1109\/ROBOT.2002.1013707"},{"key":"9524_CR39","doi-asserted-by":"crossref","first-page":"403","DOI":"10.1007\/978-3-642-02921-9_35","volume-title":"RoboCup 2008: Robot Soccer World Cup XII","author":"M Zhao","year":"2009","unstructured":"Zhao, M., Zhang, J., Dong, H., Liu, Y., Li, L., Su, X.: Humanoid robot gait generation based on limit cycle stability. In: RoboCup 2008: Robot Soccer World Cup XII, pp. 403\u2013413. Springer-Verlag, Berlin, Heidelberg (2009)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-010-9524-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-010-9524-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-010-9524-6","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,1]],"date-time":"2025-03-01T21:34:12Z","timestamp":1740864852000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-010-9524-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,1,18]]},"references-count":39,"journal-issue":{"issue":"3-4","published-print":{"date-parts":[[2011,9]]}},"alternative-id":["9524"],"URL":"https:\/\/doi.org\/10.1007\/s10846-010-9524-6","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,1,18]]}}}