{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:46:42Z","timestamp":1760168802127},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2010,8,19]],"date-time":"2010-08-19T00:00:00Z","timestamp":1282176000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>From the viewpoint of the system's mechanical energy, the passive inverted pendulum model (PIPM) is proposed for the generation of more energy-efficient biped gait pattern. The generated walking pattern, based on the PIPM, enables the fully actuated biped robots to closely mimic the behavior of stable passive walking, so that it can have good energy-efficiency, which is the inherent advantage of the passive system. Furthermore, the pattern generation method is extended to any desired terrain as well. As for SHR-1, the first-generation biped robot of Shanghai Jiao Tong University, gait synthesis is clarified in detail. Finally, the walking experiments are carried out on SHR-1, and the effectiveness of the proposed pattern generation method is confirmed.<\/jats:p>","DOI":"10.1017\/s0263574710000408","type":"journal-article","created":{"date-parts":[[2010,8,19]],"date-time":"2010-08-19T09:31:52Z","timestamp":1282210312000},"page":"595-605","source":"Crossref","is-referenced-by-count":12,"title":["Energy-efficient gait generation for biped robot based on the passive inverted pendulum model"],"prefix":"10.1017","volume":"29","author":[{"given":"Jian","family":"Li","sequence":"first","affiliation":[]},{"given":"Weidong","family":"Chen","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2010,8,19]]},"reference":[{"key":"S0263574710000408_ref13","first-page":"1","volume-title":"Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics","author":"Sekiguchi","year":"2007"},{"key":"S0263574710000408_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041632"},{"key":"S0263574710000408_ref21","volume-title":"Human Walking","author":"Inman","year":"1981"},{"key":"S0263574710000408_ref9","doi-asserted-by":"crossref","first-page":"339","DOI":"10.1109\/ISIC.2007.4450908","volume-title":"22nd IEEE International Symposium on Intelligent Control","author":"Tang","year":"2007"},{"key":"S0263574710000408_ref5","first-page":"4140","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Gienger","year":"2001"},{"key":"S0263574710000408_ref11","first-page":"3976","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent and Robots Systems","author":"Ogura","year":"2006"},{"key":"S0263574710000408_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574710000408_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2004.824685"},{"key":"S0263574710000408_ref15","unstructured":"15. McGeer T. , \u201cStability and control of two-dimensional biped walking,\u201d Technical Report. CSS-IS TR 88\u201301, Simon Fraser University, (1988)."},{"key":"S0263574710000408_ref12","first-page":"337","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kurazume","year":"2005"},{"key":"S0263574710000408_ref18","first-page":"110","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Anderson","year":"2005"},{"key":"S0263574710000408_ref20","first-page":"42","article-title":"Hybrid zero dynamics of planar biped wakers","volume":"48","author":"Westervelt","year":"2003","journal-title":"IEEE Trans. Robot. 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