{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T09:02:23Z","timestamp":1760346143309},"reference-count":11,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2010,6]]},"abstract":"<jats:p>Human running can be stabilized in a wide range of speeds by automatically adjusting muscular properties of leg and torso. It is known that fast locomotion dynamics can be approximated by a spring loaded inverted pendulum (SLIP) system, in which leg is replaced by a single spring connecting body mass to ground. Taking advantage of the inherent stability of SLIP model, a hybrid control strategy is developed that guarantees a stable biped locomotion in sagittal plane. In the presented approach, nonlinear control methods are applied to synchronize the biped dynamics and the spring-mass dynamics. As the biped center of mass follows the mass of the mass-spring model, the whole biped performs a stable locomotion corresponding to SLIP model. Simulations are done to obtain a repeatable hopping for a three-link underactuated biped model. Results show that periodic hopping gaits can be stabilized, and the presented control strategy provides feasible gait trajectories for stance and swing phases.<\/jats:p>","DOI":"10.1142\/s0219843610002106","type":"journal-article","created":{"date-parts":[[2010,6,4]],"date-time":"2010-06-04T08:20:18Z","timestamp":1275639618000},"page":"263-280","source":"Crossref","is-referenced-by-count":27,"title":["BIPED HOPPING CONTROL BAzSED ON SPRING LOADED INVERTED PENDULUM MODEL"],"prefix":"10.1142","volume":"07","author":[{"given":"SEYED HOSSEIN","family":"TAMADDONI","sequence":"first","affiliation":[{"name":"Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"FARID","family":"JAFARI","sequence":"additional","affiliation":[{"name":"Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"ALI","family":"MEGHDARI","sequence":"additional","affiliation":[{"name":"Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"SAEED","family":"SOHRABPOUR","sequence":"additional","affiliation":[{"name":"Center of Excellence in Design, Robotics, and Automation (CEDRA), School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2011,11,20]]},"reference":[{"key":"rf3","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013219111657"},{"key":"rf5","doi-asserted-by":"publisher","DOI":"10.1016\/S1095-6433(02)00143-5"},{"key":"rf6","first-page":"1259","author":"Seyfarth A.","journal-title":"Biomechanics"},{"key":"rf7","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1242\/jeb.185.1.71","volume":"185","author":"Farley C. T.","journal-title":"Experimental Biology"},{"key":"rf8","first-page":"649","author":"Seyfarth A.","journal-title":"Biomechanics"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1016\/j.jtbi.2004.08.015"},{"key":"rf10","first-page":"251","author":"Koditschek D. E.","journal-title":"Arthropod Structure & Development"},{"key":"rf13","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9233-6"},{"key":"rf14","doi-asserted-by":"publisher","DOI":"10.1023\/A:1023911408496"},{"key":"rf15","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.00463"},{"key":"rf16","volume-title":"Nonlinear Dynamics and Chaos: With Applications to Physics, Biology, Chemistry, and Engineering","author":"Strogatz S. H.","year":"1994"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843610002106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,28]],"date-time":"2021-10-28T22:19:24Z","timestamp":1635459564000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843610002106"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,6]]},"references-count":11,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2011,11,20]]},"published-print":{"date-parts":[[2010,6]]}},"alternative-id":["10.1142\/S0219843610002106"],"URL":"https:\/\/doi.org\/10.1142\/s0219843610002106","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,6]]}}}