{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T15:58:27Z","timestamp":1774627107137,"version":"3.50.1"},"reference-count":244,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2013,12,5]],"date-time":"2013-12-05T00:00:00Z","timestamp":1386201600000},"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":[[2014,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Biped robots have gained much attention for decades. A variety of researches have been conducted to make them able to assist or even substitute for humans in performing special tasks. In addition, studying biped robots is important in order to understand human locomotion and to develop and improve control strategies for prosthetic and orthotic limbs. This paper discusses the main challenges encountered in the design of biped robots, such as modeling, stability and their walking patterns. The subject is difficult to deal with because the biped mechanism intervenes with mechanics, control, electronics and artificial intelligence. In this paper, we collect and introduce a systematic discussion of modeling, walking pattern generators and stability for a biped robot.<\/jats:p>","DOI":"10.1017\/s0263574713001124","type":"journal-article","created":{"date-parts":[[2013,12,16]],"date-time":"2013-12-16T06:46:15Z","timestamp":1387176375000},"page":"907-934","source":"Crossref","is-referenced-by-count":33,"title":["Modeling, stability and walking pattern generators of biped robots: a review"],"prefix":"10.1017","volume":"32","author":[{"given":"Hayder F. N.","family":"Al-Shuka","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Allmendinger","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"B.","family":"Corves","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wen-Hong","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2013,12,5]]},"reference":[{"key":"S0263574713001124_ref227","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2003.12.001"},{"key":"S0263574713001124_ref201","doi-asserted-by":"publisher","DOI":"10.1007\/4-431-31381-8_13"},{"key":"S0263574713001124_ref239","first-page":"125","volume-title":"Reactivity and Deliberation in MAS","author":"Behnke","year":"2001"},{"key":"S0263574713001124_ref170","first-page":"191","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ishii","year":"2000"},{"key":"S0263574713001124_ref235","first-page":"269","volume-title":"RobotCup 2000","author":"Yamasaki","year":"2001"},{"key":"S0263574713001124_ref204","doi-asserted-by":"crossref","unstructured":"S. O. Anderson , M. Wisse , C. G. Atkeson , J. K. Hodgins , G. J. Zeglin and B. Moyer , \u201cPowered Bipeds Based on Passive Dynamic Principles,\u201d In: IEEE-RAS International Conference on Humanoid Robots (2005) pp. 110\u2013116.","DOI":"10.1109\/ICHR.2005.1573554"},{"key":"S0263574713001124_ref231","first-page":"448","volume-title":"IEEE-RAS International Conference on Humanoid Robots (Humanoids)","author":"Gouaillier","year":"2010"},{"key":"S0263574713001124_ref177","first-page":"253","volume-title":"Experimental Robotics IV, Lecture Notes in Control and Information Science","author":"Partt","year":"1997"},{"key":"S0263574713001124_ref207","first-page":"623","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kim","year":"2004"},{"key":"S0263574713001124_ref229","first-page":"4463","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Olaru","year":"2009"},{"key":"S0263574713001124_ref198","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041671"},{"key":"S0263574713001124_ref222","first-page":"267","volume-title":"IEEE International Conference on Advanced Robotics","author":"Espiau","year":"1997"},{"key":"S0263574713001124_ref223","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(98)00165-8"},{"key":"S0263574713001124_ref217","first-page":"88","volume-title":"IEEE International Conference on Robotics and Automation (ICRA 2006)","author":"Lohmeier","year":"2004"},{"key":"S0263574713001124_ref178","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"},{"key":"S0263574713001124_ref172","first-page":"487","volume-title":"IEEE-RAS International Conference on Humanoids","author":"Zecca","year":"2008"},{"key":"S0263574713001124_ref167","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041641"},{"key":"S0263574713001124_ref238","first-page":"1597","volume-title":"IEEE International Conference on Robotics and Automation","author":"Behnke","year":"2006"},{"key":"S0263574713001124_ref183","doi-asserted-by":"crossref","unstructured":"T. Ishida , \u201cDevelopment of a Small Biped Entertainment Robot Qrio,\u201d In: Proceedings of the International Symposium on Micro-Nanomechatronics and Human Science (2004) pp. 23\u201328.","DOI":"10.1109\/MHS.2004.1421265"},{"key":"S0263574713001124_ref228","first-page":"3996","volume-title":"IEEE International Conference on Robotics and Automation","author":"Espiau","year":"2000"},{"key":"S0263574713001124_ref171","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041634"},{"key":"S0263574713001124_ref195","first-page":"1633","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kanehiro","year":"2003"},{"key":"S0263574713001124_ref175","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1996.568974"},{"key":"S0263574713001124_ref163","unstructured":"Hun-ok Lim and A. Takanishi , \u201cBiped walking robots created at Waseda University: WL and WABIAN family,\u201d Phil. Trans. R. Soc. A. 365 (1850), 49\u201364 (2007)."},{"key":"S0263574713001124_ref240","first-page":"352","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Yang","year":"2006"},{"key":"S0263574713001124_ref202","first-page":"4656","volume-title":"IEEE International Conference on Robotics and Automation","author":"Tedrake","year":"2004"},{"key":"S0263574713001124_ref234","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904047395"},{"key":"S0263574713001124_ref191","first-page":"3527","volume-title":"IEEE International Conference on Robotics and Automation","author":"Miura","year":"2012"},{"key":"S0263574713001124_ref162","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067309"},{"key":"S0263574713001124_ref241","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-29461-9_62"},{"key":"S0263574713001124_ref211","doi-asserted-by":"publisher","DOI":"10.1163\/156855307780132063"},{"key":"S0263574713001124_ref230","first-page":"769","volume-title":"IEEE International Conference on Robotics and Automation","author":"Gouaillier","year":"2009"},{"key":"S0263574713001124_ref199","first-page":"4342","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Sugahara","year":"2003"},{"key":"S0263574713001124_ref220","first-page":"563","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Arbulu","year":"2007"},{"key":"S0263574713001124_ref166","doi-asserted-by":"publisher","DOI":"10.1108\/01439919910277431"},{"key":"S0263574713001124_ref182","first-page":"1129","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ishida","year":"2003"},{"key":"S0263574713001124_ref190","doi-asserted-by":"crossref","first-page":"7","DOI":"10.1109\/ICHR.2009.5379537","volume-title":"IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)","author":"Kaneko","year":"2009"},{"key":"S0263574713001124_ref169","first-page":"361","volume-title":"IEEE International Conference on Robotics and Automation","author":"Setiawan","year":"1999"},{"key":"S0263574713001124_ref160","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620037"},{"key":"S0263574713001124_ref209","first-page":"1431","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Kim","year":"2005"},{"key":"S0263574713001124_ref200","doi-asserted-by":"publisher","DOI":"10.1115\/1.2798313"},{"key":"S0263574713001124_ref244","first-page":"462","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Tellez","year":"2008"},{"key":"S0263574713001124_ref187","first-page":"74","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Suleiman","year":"2009"},{"key":"S0263574713001124_ref232","unstructured":"T. Hemker , H. Sakamoto , M. Stelzer and O. von Stryk , \u201cHardware-in-the-Loop Optimization of the Walking Speed of a Humanoid Robot,\u201d 9th International Conference on Climbing and Walking Robots (CLAWAR) (2006)."},{"key":"S0263574713001124_ref81","first-page":"1321","volume-title":"IEEE International Conference on Robotics and Automation","author":"Hirai","year":"1998"},{"key":"S0263574713001124_ref164","first-page":"1592","volume-title":"IEEE International Conference on Robotics and Automation","author":"McGeer","year":"1989"},{"key":"S0263574713001124_ref136","doi-asserted-by":"publisher","DOI":"10.2514\/2.4231"},{"key":"S0263574713001124_ref28","volume-title":"Robot Control: The Task Function Approach","author":"Samson","year":"1991"},{"key":"S0263574713001124_ref196","first-page":"2471","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kaneko","year":"2008"},{"key":"S0263574713001124_ref35","first-page":"1332","volume-title":"IEEE International Conference on Industrial Electronics, Control and Instrumentation","author":"Sonoda","year":"1997"},{"key":"S0263574713001124_ref216","first-page":"1614","volume-title":"IEEE International Conference on Mechatronics and Automation","author":"Xiao","year":"2006"},{"key":"S0263574713001124_ref43","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095136"},{"key":"S0263574713001124_ref154","doi-asserted-by":"publisher","DOI":"10.1023\/A:1024172417914"},{"key":"S0263574713001124_ref24","volume-title":"PhD thesis","author":"Migliore","year":"2008"},{"key":"S0263574713001124_ref149","unstructured":"F. Kai , \u201cBiologically Inspired Locomotion Control of Bipedal Robot,\u201d MSc thesis (National University of Singapore, 2006)."},{"key":"S0263574713001124_ref233","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908095171"},{"key":"S0263574713001124_ref118","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1975.324498"},{"key":"S0263574713001124_ref54","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(72)90061-2"},{"key":"S0263574713001124_ref193","first-page":"1083","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kaneko","year":"2004"},{"key":"S0263574713001124_ref77","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1974.324294"},{"key":"S0263574713001124_ref194","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041636"},{"key":"S0263574713001124_ref206","doi-asserted-by":"publisher","DOI":"10.1163\/1568553041719500"},{"key":"S0263574713001124_ref192","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041632"},{"key":"S0263574713001124_ref48","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"S0263574713001124_ref82","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.503785"},{"key":"S0263574713001124_ref146","doi-asserted-by":"publisher","DOI":"10.1007\/BF00319514"},{"key":"S0263574713001124_ref49","first-page":"521","volume-title":"SIMPAR 2010","author":"van Zutven","year":"2010"},{"key":"S0263574713001124_ref44","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/5\/4\/046004"},{"key":"S0263574713001124_ref203","first-page":"2849","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tedrake","year":"2004"},{"key":"S0263574713001124_ref62","first-page":"321","volume-title":"Humanoid Robots, New Developments","author":"Huang","year":"2007"},{"key":"S0263574713001124_ref100","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2003.1234651"},{"key":"S0263574713001124_ref158","volume-title":"Proceedings of the Thirty-Sixth Annual Allerton Conference on Communication, Control, and Computing, Monticello","author":"Pratt","year":"1998"},{"key":"S0263574713001124_ref52","first-page":"200","volume-title":"IEEE-RAS International Conference on Humanoid Robot","author":"Pratt","year":"2006"},{"key":"S0263574713001124_ref22","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(73)90053-5"},{"key":"S0263574713001124_ref106","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005460"},{"key":"S0263574713001124_ref64","first-page":"1627","volume-title":"IEEE International Conference on Robotics and Automation","author":"Harada","year":"2003"},{"key":"S0263574713001124_ref3","volume-title":"Autonomous Robots: From Biological Inspiration to Implementation and Control","author":"Bekey","year":"2005"},{"key":"S0263574713001124_ref113","first-page":"601","volume-title":"IEEE International Workshop on Intelligent Robots and Systems (IROS'90)","author":"Zheng","year":"1990"},{"key":"S0263574713001124_ref124","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000726"},{"key":"S0263574713001124_ref142","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1017\/S0263574700003039","article-title":"Sagittal gait of a biped robot during the single support phase. Part 2: Optimal motion","volume":"19","author":"Rostami","year":"2001","journal-title":"Robotica"},{"key":"S0263574713001124_ref197","first-page":"4400","volume-title":"IEEE\/RSJ International Conference on IROS","author":"Kaneko","year":"2011"},{"key":"S0263574713001124_ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2033593"},{"key":"S0263574713001124_ref237","first-page":"59","volume-title":"RoboCup","author":"Behnke","year":"2006"},{"key":"S0263574713001124_ref59","first-page":"277","volume-title":"Humanoid Robots: Human-Like Machines","author":"Hobbelen","year":"2007"},{"key":"S0263574713001124_ref161","first-page":"2014","volume-title":"IEEE International Conference on Robotics and Automation","author":"Pratt","year":"1998"},{"key":"S0263574713001124_ref224","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2004.03.013"},{"key":"S0263574713001124_ref151","doi-asserted-by":"publisher","DOI":"10.1109\/ICNN.1993.298857"},{"key":"S0263574713001124_ref92","doi-asserted-by":"publisher","DOI":"10.1109\/70.781963"},{"key":"S0263574713001124_ref213","first-page":"1231","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Park","year":"2006"},{"key":"S0263574713001124_ref94","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.09.010"},{"key":"S0263574713001124_ref165","doi-asserted-by":"crossref","unstructured":"K. Hirai , \u201cCurrent and Future Perspective of Honda Humanoid,\u201d In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, Grenoble (Sep. 1997) pp. 500\u2013508.","DOI":"10.1109\/IROS.1997.655059"},{"key":"S0263574713001124_ref221","doi-asserted-by":"publisher","DOI":"10.1109\/3468.725353"},{"key":"S0263574713001124_ref10","doi-asserted-by":"crossref","DOI":"10.1002\/9780470611623","volume-title":"Bipedal Robots, Modeling, Design and Building Walking Robots","author":"Chevallereau","year":"2009"},{"key":"S0263574713001124_ref115","unstructured":"B. Y\u00fcksel , \u201cTowards the Enhancement of the Biped Locomotion and Control Techniques,\u201d PhD thesis (Middle East Technical University, Turkey, 2008)."},{"key":"S0263574713001124_ref41","volume-title":"Modeling and Control for Efficient Bipedal Walking Robot: A Port-Based Approach","author":"Duindam","year":"2009"},{"key":"S0263574713001124_ref208","unstructured":"J.-Y Kim , I.-W Park and J.-H Oh , \u201cDesign and Walking Control of the Humanoid Robot, KHR-2 (KAIST Humanoid Robot-2),\u201d In: Proceedings of International Conference on Control, Automation and Systems (Nov. 2004) pp. 1540\u20131543."},{"key":"S0263574713001124_ref42","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2007.09.033"},{"key":"S0263574713001124_ref130","doi-asserted-by":"crossref","unstructured":"M. Shibuya , T. Suzuki and K. Ohnishi , \u201cTrajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase,\u201d In: Proceedings of the 32nd Annual IEEE Industrial Electronics Conference (IECON 2006) (2006) pp. 4094\u20134099.","DOI":"10.1109\/IECON.2006.348126"},{"key":"S0263574713001124_ref27","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1989"},{"key":"S0263574713001124_ref61","first-page":"3528","volume-title":"IEEE International Conference of Robotics and Automation","author":"Park","year":"1998"},{"key":"S0263574713001124_ref90","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.851449"},{"key":"S0263574713001124_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/1077546311403180"},{"key":"S0263574713001124_ref47","doi-asserted-by":"publisher","DOI":"10.1002\/9783527618385"},{"key":"S0263574713001124_ref63","first-page":"459","volume-title":"Advanced Robotics: Proceedings of the 2nd International Conference (ICAR'85)","author":"Takanishi","year":"1985"},{"key":"S0263574713001124_ref186","first-page":"471","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kuroki","year":"2003"},{"key":"S0263574713001124_ref181","first-page":"1079","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Ishida","year":"2001"},{"key":"S0263574713001124_ref56","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-11676-6_4"},{"key":"S0263574713001124_ref57","first-page":"22","article-title":"Postural equilibrium criteria concerning feet properties for biped robots","volume":"6","author":"Alba","year":"2012","journal-title":"J. Autom. Mob. Robot. Intell. Syst."},{"key":"S0263574713001124_ref205","first-page":"113","article-title":"Three Additions to Passive Dynamic Walking; Actuation, an Upper Body, and 3D Stability","volume":"1","author":"Wisse","year":"2004","journal-title":"IEEE International Conference on Humanoid Robots"},{"key":"S0263574713001124_ref67","first-page":"795","volume-title":"IEEE International Workshop on Intelligent Robots and Systems (IROS'90)","author":"Takanishi","year":"1990"},{"key":"S0263574713001124_ref226","unstructured":"C. Azevedo and the BIP Team, \u201cControl Architecture and Algorithms of the Anthropomorphic Biped Robot Bip2000,\u201d In: Proceedings International Conference of Climbing and Walking Robots (2000) pp. 285\u2013293."},{"key":"S0263574713001124_ref144","doi-asserted-by":"publisher","DOI":"10.2514\/6.1996-3812"},{"key":"S0263574713001124_ref110","first-page":"1620","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kajita","year":"2003"},{"key":"S0263574713001124_ref26","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149608"},{"key":"S0263574713001124_ref188","first-page":"596","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Miura","year":"2009"},{"key":"S0263574713001124_ref210","first-page":"292","article-title":"Development of Humanoid Robot Platform KHR-2 (KAIST Humanoid Robot 2)","volume":"1","author":"Park","year":"2004","journal-title":"IEEE\/RAS International Conference Humanoid Robots"},{"key":"S0263574713001124_ref214","first-page":"1190","volume-title":"SICE-ICASE International Joint Conference","author":"Lee","year":"2006"},{"key":"S0263574713001124_ref179","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2004.03.002"},{"key":"S0263574713001124_ref243","first-page":"4041","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Caballero","year":"2007"},{"key":"S0263574713001124_ref60","first-page":"931","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Or","year":"2004"},{"key":"S0263574713001124_ref68","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832811"},{"key":"S0263574713001124_ref152","unstructured":"W. Yang , N. Y. Chong and B. -J. You , \u201cBiologically inspired robotic system control: Multi-DOF robotic arm control,\u201d ISBN: 978-3-639-23071-0, VDM Verlag Dr. M\u00fcller, Germany, 2010."},{"key":"S0263574713001124_ref79","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126245"},{"key":"S0263574713001124_ref173","first-page":"381","volume-title":"IEEE International Symposium on Robot and Human Interactive Communication","author":"Zecca","year":"2009"},{"key":"S0263574713001124_ref45","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3182\/6\/4\/045004"},{"key":"S0263574713001124_ref14","volume-title":"Internship report","author":"Dekker","year":"2009"},{"key":"S0263574713001124_ref6","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0263574713001124_ref97","doi-asserted-by":"crossref","first-page":"1726","DOI":"10.1109\/IROS.2006.282132","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Tajima","year":"2006"},{"key":"S0263574713001124_ref20","first-page":"129","volume-title":"IEEE International Workshop on Advanced Motion Control","author":"Sato","year":"2010"},{"key":"S0263574713001124_ref83","unstructured":"J. Adolfsson , \u201cPassive Control of Mechanical Systems; Bipedal Walking and Autobalancing,\u201d PhD thesis (Royal Institute of Technology, Stockholm, Sweden, 2001)."},{"key":"S0263574713001124_ref117","first-page":"1044","volume-title":"IEEE International Conference on Robotics and Automation","author":"Dasgupta","year":"1999"},{"key":"S0263574713001124_ref1","volume-title":"Mobile Robotics","author":"Lima","year":"2002"},{"key":"S0263574713001124_ref7","doi-asserted-by":"publisher","DOI":"10.1163\/156855308X324749"},{"key":"S0263574713001124_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ICSMC.1993.384792"},{"key":"S0263574713001124_ref189","first-page":"4392","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Kaneko","year":"2011"},{"key":"S0263574713001124_ref17","first-page":"65","volume-title":"IEEE International Conference on Robotics and Automation","author":"Huang","year":"1999"},{"key":"S0263574713001124_ref9","doi-asserted-by":"publisher","DOI":"10.1049\/ip-cta:20045007"},{"key":"S0263574713001124_ref29","doi-asserted-by":"publisher","DOI":"10.1002\/9780470686850"},{"key":"S0263574713001124_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/TBME.1973.324217"},{"key":"S0263574713001124_ref236","first-page":"60","volume-title":"RoboCup 2001","author":"Yamasaki","year":"2002"},{"key":"S0263574713001124_ref30","volume-title":"Computer Aided Analysis of Mechanical Systems","author":"Nikravesh","year":"1988"},{"key":"S0263574713001124_ref46","first-page":"5250","volume-title":"IEEE International Conference on Robotics and Automation","author":"Rummel","year":"2010"},{"key":"S0263574713001124_ref37","first-page":"729","volume-title":"5th International Conference on Advanced Robotics","author":"Sano","year":"1991"},{"key":"S0263574713001124_ref38","doi-asserted-by":"publisher","DOI":"10.1109\/21.156585"},{"key":"S0263574713001124_ref50","volume-title":"Honors thesis","author":"Nicholls","year":"1998"},{"key":"S0263574713001124_ref5","doi-asserted-by":"crossref","DOI":"10.1109\/MEX.1986.4307016","volume-title":"Legged Robots that Balance","author":"Raibert","year":"1986"},{"key":"S0263574713001124_ref112","first-page":"137","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Wieber","year":"2006"},{"key":"S0263574713001124_ref16","volume-title":"Gait Analysis: An Introduction","author":"Whittle","year":"2007"},{"key":"S0263574713001124_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101650"},{"key":"S0263574713001124_ref13","first-page":"398","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Park","year":"2006"},{"key":"S0263574713001124_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10724-5"},{"key":"S0263574713001124_ref148","first-page":"8","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Yang","year":"2008"},{"key":"S0263574713001124_ref36","first-page":"1211","volume-title":"IEEE International Conference on Robotics and Automation","author":"Choi","year":"1995"},{"key":"S0263574713001124_ref33","first-page":"379","volume-title":"10th IEEE-RAS International Conference on Humanoid Robots","author":"Hamon","year":"2010"},{"key":"S0263574713001124_ref19","first-page":"187","article-title":"Biped locomotion: Stability, analysis and control","volume":"1","author":"Vadakkepat","year":"2008","journal-title":"Int. J. Smart Sens. Intell. Syst."},{"key":"S0263574713001124_ref15","unstructured":"G. Ozyurt , \u201c3-D Humanoid Gait Simulation Using an Optimal Predictive Control,\u201d MSc thesis (Middle East Technical University, Turkey, 2005)."},{"key":"S0263574713001124_ref21","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000591"},{"key":"S0263574713001124_ref71","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.008573"},{"key":"S0263574713001124_ref31","volume-title":"Robot Analysis and Control","author":"Asada","year":"1986"},{"key":"S0263574713001124_ref80","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevLett.80.3658"},{"key":"S0263574713001124_ref39","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2003.808863"},{"key":"S0263574713001124_ref40","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"},{"key":"S0263574713001124_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(02)00419-0"},{"key":"S0263574713001124_ref34","doi-asserted-by":"publisher","DOI":"10.1007\/BF00435728"},{"key":"S0263574713001124_ref65","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832833"},{"key":"S0263574713001124_ref218","first-page":"1","volume-title":"IEEE International Conference on Advanced Robotics (ICAR)","author":"Monje","year":"2009"},{"key":"S0263574713001124_ref96","first-page":"1571","volume-title":"IEEE International Conference on Robotics and Automation","author":"Tajima","year":"2009"},{"key":"S0263574713001124_ref123","doi-asserted-by":"publisher","DOI":"10.1145\/378456.378531"},{"key":"S0263574713001124_ref66","first-page":"330","volume-title":"IEEE Conference on Robotics, Automation and Mechatronics","author":"Y\u00fcskel","year":"2004"},{"key":"S0263574713001124_ref91","first-page":"2339","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Van Der Linde","year":"1998"},{"key":"S0263574713001124_ref53","doi-asserted-by":"publisher","DOI":"10.1115\/1.2815334"},{"key":"S0263574713001124_ref116","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(79)90149-0"},{"key":"S0263574713001124_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/70.938385"},{"key":"S0263574713001124_ref127","doi-asserted-by":"publisher","DOI":"10.1109\/37.482132"},{"key":"S0263574713001124_ref58","doi-asserted-by":"crossref","first-page":"490","DOI":"10.1115\/1.1590356","article-title":"Experimental\/analytical analysis of human locomotion using bondgraphs","volume":"125","author":"Pop","year":"2003","journal-title":"ASME J. Biomech. Eng."},{"key":"S0263574713001124_ref55","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_17"},{"key":"S0263574713001124_ref69","first-page":"478","volume-title":"Proceedings of the 7th International Workshop on Advanced Motion Control","author":"Tsuji","year":"2002"},{"key":"S0263574713001124_ref242","doi-asserted-by":"publisher","DOI":"10.1177\/1077546306070601"},{"key":"S0263574713001124_ref89","unstructured":"P. T. Piiroinen , \u201cRecurrent Dynamics of Nonsmooth Systems with Application to human Gait,\u201d PhD thesis (Royal Institute of Technology, Stockholm, Sweden, 2002)."},{"key":"S0263574713001124_ref72","first-page":"79","volume-title":"Mobile Robots Towards New Applications","author":"Popovic","year":"2006"},{"key":"S0263574713001124_ref141","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000399"},{"key":"S0263574713001124_ref132","first-page":"149","article-title":"On the walking pattern generators of biped robot","volume":"1","author":"Al-Shuka","year":"2013","journal-title":"J. Autom. Control (JOACE)"},{"key":"S0263574713001124_ref138","doi-asserted-by":"publisher","DOI":"10.1137\/1.9780898718676"},{"key":"S0263574713001124_ref147","doi-asserted-by":"publisher","DOI":"10.1007\/BF00652227"},{"key":"S0263574713001124_ref78","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0263574713001124_ref98","first-page":"484","volume-title":"IEEE International Conference on Robotics and Automation","author":"L\u00f6ffler","year":"2003"},{"key":"S0263574713001124_ref99","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2004.834948"},{"key":"S0263574713001124_ref95","unstructured":"Honda, \u201cHumanoid robot,\u201d available at: http:\/\/world.honda.com\/ASIMO\/ (accessed May 1, 2013)."},{"key":"S0263574713001124_ref87","doi-asserted-by":"publisher","DOI":"10.1115\/1.2900798"},{"key":"S0263574713001124_ref131","unstructured":"S. Kudoh and T. Komura , \u201cC2 Continuous Gait-Pattern Generation for Biped Robots,\u201d In: Proceedings of 2003 IEEE\/RSJ Intelligent Robots and Systems Conference, Vol. 2 (2003) pp. 1135\u20131140."},{"key":"S0263574713001124_ref51","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36119-0_14"},{"key":"S0263574713001124_ref108","doi-asserted-by":"publisher","DOI":"10.1007\/s00422-006-0118-0"},{"key":"S0263574713001124_ref32","doi-asserted-by":"publisher","DOI":"10.1115\/1.2839633"},{"key":"S0263574713001124_ref120","first-page":"710","volume-title":"IEEE International Conference on Neural Networks","author":"Juang","year":"1996"},{"key":"S0263574713001124_ref143","first-page":"241","volume-title":"The 5th International Conference Climbing and Walking Robots","author":"Bessonnet","year":"2002"},{"key":"S0263574713001124_ref139","doi-asserted-by":"publisher","DOI":"10.1115\/1.2894094"},{"key":"S0263574713001124_ref101","doi-asserted-by":"publisher","DOI":"10.1016\/S0268-0033(97)00080-6"},{"key":"S0263574713001124_ref109","first-page":"315","volume-title":"Humanoid Robots: Human-Like Machines","author":"Yin","year":"2007"},{"key":"S0263574713001124_ref85","doi-asserted-by":"publisher","DOI":"10.1109\/3468.983431"},{"key":"S0263574713001124_ref157","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380639"},{"key":"S0263574713001124_ref70","first-page":"124","volume-title":"IEEE International Workshop on Advanced Motion Control","author":"Waki","year":"2010"},{"key":"S0263574713001124_ref86","doi-asserted-by":"crossref","first-page":"1282","DOI":"10.1177\/027836499801701202","article-title":"A study of the passive gait of a compass-like biped robot: Symmetry and chaos","volume":"17","author":"Goswarni","year":"1998","journal-title":"Intern. J. Robot. Res."},{"key":"S0263574713001124_ref84","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008300821973"},{"key":"S0263574713001124_ref128","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300206"},{"key":"S0263574713001124_ref145","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(88)90003-9"},{"key":"S0263574713001124_ref140","volume-title":"Numerical Optimal Control","author":"Diehl","year":"2011"},{"key":"S0263574713001124_ref129","doi-asserted-by":"publisher","DOI":"10.1109\/70.149940"},{"key":"S0263574713001124_ref159","volume-title":"International Conference on Climbing and Walking Robots (CLAWAR99)","author":"Pratt","year":"1999"},{"key":"S0263574713001124_ref114","volume-title":"PhD thesis","author":"Sugihara","year":"2004"},{"key":"S0263574713001124_ref74","volume-title":"On the Bounded Control of Some Unstable Mechanical Systems","author":"Schaefer","year":"1965"},{"key":"S0263574713001124_ref121","first-page":"65","volume-title":"Robotics and Manufacturing, Recent Trends in Research, Education and Applications","author":"Kurematsu","year":"1988"},{"key":"S0263574713001124_ref137","doi-asserted-by":"publisher","DOI":"10.7763\/LNSE.2013.V1.52"},{"key":"S0263574713001124_ref107","first-page":"1","article-title":"Contribution to the synthesis of biped gait","volume":"16","author":"Vukobraovic","year":"1969","journal-title":"IEEE Trans. Biomed. Eng. (BME)"},{"key":"S0263574713001124_ref134","first-page":"187","volume-title":"IEEE\/RSJ International Workshop on Intelligent Robots and Systems","author":"Takanishi","year":"1989"},{"key":"S0263574713001124_ref103","volume-title":"Wearable Robots: Biomechatronic Exoskeletons","author":"Forner-Cordero","year":"2008"},{"key":"S0263574713001124_ref111","volume-title":"IFAC, 15th Triennial World Congress","author":"Azevedo","year":"2002"},{"key":"S0263574713001124_ref185","doi-asserted-by":"crossref","first-page":"596","DOI":"10.1109\/ROBOT.2005.1570183","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Endo","year":"2005"},{"key":"S0263574713001124_ref125","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004903"},{"key":"S0263574713001124_ref225","first-page":"582","volume-title":"Experimental Robotics VIII, Springer Tracts in Advanced Robotics","author":"Azedvedo","year":"2003"},{"key":"S0263574713001124_ref73","volume-title":"Dynamics of Physical Systems","author":"Cannon","year":"1967"},{"key":"S0263574713001124_ref76","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1973.1100432"},{"key":"S0263574713001124_ref150","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1997.620035"},{"key":"S0263574713001124_ref153","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2008.03.014"},{"key":"S0263574713001124_ref155","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"S0263574713001124_ref88","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066655"},{"key":"S0263574713001124_ref75","first-page":"18","article-title":"A feasibility study of powered-limb prosthesis","volume":"183","author":"Witt","year":"1968","journal-title":"Proc. Inst. Mech. Eng. (Conf. Proc.)"},{"key":"S0263574713001124_ref212","first-page":"321","volume-title":"IEEE-RAS International Conference on Humanoid Robots","author":"Park","year":"2005"},{"key":"S0263574713001124_ref184","first-page":"3","volume-title":"IEEE International Symposium on Micromechatronics and Human Science","author":"Kuroki","year":"2001"},{"key":"S0263574713001124_ref102","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"S0263574713001124_ref126","first-page":"2885","volume-title":"IEEE International Conference on Robotics and Automation","author":"Kajita","year":"1995"},{"key":"S0263574713001124_ref215","first-page":"752","volume-title":"IEEE International Conference on Robotics and Biomimetics","author":"Peng","year":"2009"},{"key":"S0263574713001124_ref119","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101513"},{"key":"S0263574713001124_ref135","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.06.001"},{"key":"S0263574713001124_ref180","first-page":"1394","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kuroki","year":"2003"},{"key":"S0263574713001124_ref133","doi-asserted-by":"publisher","DOI":"10.1023\/A:1022600522613"},{"key":"S0263574713001124_ref93","doi-asserted-by":"publisher","DOI":"10.1007\/s004220050558"},{"key":"S0263574713001124_ref105","first-page":"3117","volume-title":"IEEE International Conference on Robotics and Automation","author":"Westervelt","year":"2002"},{"key":"S0263574713001124_ref156","first-page":"1983","volume-title":"IEEE International Conference on Robotics and Automation","author":"Collins","year":"2005"},{"key":"S0263574713001124_ref122","volume-title":"Fundamentals for Control of Robotic Manipulators","author":"Koivo","year":"1989"},{"key":"S0263574713001124_ref176","first-page":"399","volume-title":"IEEE\/RSJ International Conference on Cooperative Robots","author":"Pratt","year":"1995"},{"key":"S0263574713001124_ref219","first-page":"446","volume-title":"Climbing and Walking Robots","author":"Arbulu","year":"2010"},{"key":"S0263574713001124_ref168","first-page":"76","volume-title":"IEEE International Conference on Robotics and Autonomous","author":"Ogura","year":"2006"},{"key":"S0263574713001124_ref104","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003307"},{"key":"S0263574713001124_ref174","unstructured":"J. E. Pratt , \u201cExploiting Inherent Robustness and Natural Dynamics in the Control of Bipedal Walking Robots,\u201d PhD thesis (MIT, Cambridge, MA, 2000)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713001124","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,5,1]],"date-time":"2025-05-01T05:46:22Z","timestamp":1746078382000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713001124\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,12,5]]},"references-count":244,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2014,9]]}},"alternative-id":["S0263574713001124"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713001124","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,12,5]]}}}