{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T19:47:55Z","timestamp":1649188075447},"reference-count":8,"publisher":"World Scientific Pub Co Pte Lt","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2005,3]]},"abstract":"<jats:p> This article presents a theoretical approach for modeling and controlling the stability of legged robots. The new proposed concept is two-fold: (a) the definition of the (m-d)-stability and (b) the definition of the Virtual Generalized Stabilizer. These concepts are developed throughout a theoretical and general approach to the dynamics of legged robots. Numerical results are analyzed through the simulated behavior of a biped robot recovering a statically stable state under two conditions: an unstable initial posture and an impulsive external force. <\/jats:p>","DOI":"10.1142\/s0219843605000351","type":"journal-article","created":{"date-parts":[[2005,3,2]],"date-time":"2005-03-02T11:53:16Z","timestamp":1109764396000},"page":"1-20","source":"Crossref","is-referenced-by-count":5,"title":["DYNAMICS AND m-STABILITY OF LEGGED ROBOTS"],"prefix":"10.1142","volume":"02","author":[{"given":"JEROME","family":"FORET","sequence":"first","affiliation":[{"name":"Vision and Robotics Laboratory, High National School of Engineering of Bourges, 10 Boulevard Lahitolle 18020 Bourges Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"OLIVIER","family":"BRUNEAU","sequence":"additional","affiliation":[{"name":"Vision and Robotics Laboratory, High National School of Engineering of Bourges, 10 Boulevard Lahitolle 18020 Bourges Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"JEAN-GUY","family":"FONTAINE","sequence":"additional","affiliation":[{"name":"Vision and Robotics Laboratory, High National School of Engineering of Bourges, 10 Boulevard Lahitolle 18020 Bourges Cedex, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2011,11,20]]},"reference":[{"key":"rf2","first-page":"159","volume":"17","author":"Inoue H.","journal-title":"IEEE Int. Symp. Robotics ISR"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83006-8"},{"key":"rf13","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"rf17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574799001411"},{"key":"rf21","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000603"},{"key":"rf23","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"rf24","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90090-4"},{"key":"rf25","doi-asserted-by":"crossref","first-page":"176","DOI":"10.1109\/TSMC.1979.4310180","volume":"9","author":"McGhee R. B.","journal-title":"IEEE, Trans. Syst. Man Cybernet."}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843605000351","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,7]],"date-time":"2019-08-07T15:45:45Z","timestamp":1565192745000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843605000351"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2005,3]]},"references-count":8,"journal-issue":{"issue":"01","published-online":{"date-parts":[[2011,11,20]]},"published-print":{"date-parts":[[2005,3]]}},"alternative-id":["10.1142\/S0219843605000351"],"URL":"https:\/\/doi.org\/10.1142\/s0219843605000351","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2005,3]]}}}