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Walking sequence of flat-feet walkers has several substreams, which forms bipedal walking with dynamic series of phases. We investigate the effects of ankle stiffness on gait selection and evaluate different gaits in walking velocity, efficiency, and stability. Experimental results indicate that ankle stiffness plays different roles in different gaits and the gaits, which are more close to human walking with moderate speed, achieve better motion characteristics.<\/jats:p>","DOI":"10.1017\/s0263574711000397","type":"journal-article","created":{"date-parts":[[2011,4,26]],"date-time":"2011-04-26T05:36:17Z","timestamp":1303796177000},"page":"39-51","source":"Crossref","is-referenced-by-count":18,"title":["Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases"],"prefix":"10.1017","volume":"30","author":[{"given":"Yan","family":"Huang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qining","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Baojun","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Guangming","family":"Xie","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Long","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,4,26]]},"reference":[{"key":"S0263574711000397_ref25","doi-asserted-by":"crossref","first-page":"1110","DOI":"10.1152\/jn.1988.60.3.1110","article-title":"Muscle stiffness in human ankle dorsiflexors: Intrinsic and reflex components","volume":"60","author":"Sinkjaer","year":"1988","journal-title":"J. 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