{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,2,14]],"date-time":"2023-02-14T07:51:32Z","timestamp":1676361092395},"reference-count":16,"publisher":"Cambridge University Press (CUP)","issue":"8","license":[{"start":{"date-parts":[[2013,5,23]],"date-time":"2013-05-23T00:00:00Z","timestamp":1369267200000},"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":[[2013,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper presents a modified passive dynamic walking model with hip friction. We add Coulomb friction to the hip joint of a two-dimensional straight-legged passive dynamic walker. The walking map is divided into two parts \u2013 the swing phase and the impact phase. Coulomb friction and impact make the model's dynamic equations nonlinear and non-smooth, and a numerical algorithm is given to deal with this model. We study the effects of hip friction on gait and obtain basins of attraction of different coefficients of friction.<\/jats:p>","DOI":"10.1017\/s0263574713000398","type":"journal-article","created":{"date-parts":[[2013,5,23]],"date-time":"2013-05-23T18:04:14Z","timestamp":1369332254000},"page":"1221-1227","source":"Crossref","is-referenced-by-count":3,"title":["A passive dynamic walking model with Coulomb friction at the hip joint"],"prefix":"10.1017","volume":"31","author":[{"given":"Wenhao","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tianshu","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qi","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,5,23]]},"reference":[{"key":"S0263574713000398_ref1","first-page":"23","volume-title":"Proceedings of the 2004 International Symposium on Micro-NanoMechatronics and Human Science","author":"Ishida","year":"2004"},{"key":"S0263574713000398_ref7","volume-title":"Poster Abstract from Engineering Foundation Conference on Biomechanics and Neural Control of Human Movement","author":"Garcia","year":"1996"},{"key":"S0263574713000398_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574710000779"},{"key":"S0263574713000398_ref3","first-page":"1321","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Hirai","year":"1998"},{"key":"S0263574713000398_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574713000398_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"S0263574713000398_ref9","volume-title":"Simulation and Experimental Study on the Dynamics of Passive Bipedal Walker","author":"Liu","year":"2009"},{"key":"S0263574713000398_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000475"},{"key":"S0263574713000398_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041641"},{"key":"S0263574713000398_ref4","first-page":"359","article-title":"Muscle and tendon: Properties, models, scaling, and application to biomechanics and motor control","volume":"17","author":"Zajac","year":"1989","journal-title":"Crit. 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