{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,1]],"date-time":"2025-11-01T03:12:14Z","timestamp":1761966734827,"version":"build-2065373602"},"reference-count":16,"publisher":"World Scientific Pub Co Pte Ltd","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2011,9]]},"abstract":"<jats:p>Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.<\/jats:p>","DOI":"10.1142\/s0219843611002587","type":"journal-article","created":{"date-parts":[[2011,12,12]],"date-time":"2011-12-12T12:07:10Z","timestamp":1323691630000},"page":"439-458","source":"Crossref","is-referenced-by-count":41,"title":["CONCEPT AND DESIGN OF THE BIOBIPED1 ROBOT FOR HUMAN-LIKE WALKING AND RUNNING"],"prefix":"10.1142","volume":"08","author":[{"given":"KATAYON","family":"RADKHAH","sequence":"first","affiliation":[{"name":"Simulation, Systems Optimization and Robotics Group, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, D-64289, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"CHRISTOPHE","family":"MAUFROY","sequence":"additional","affiliation":[{"name":"Lauflabor Locomotion Laboratory, Friedrich-Schiller-Universit\u00e4t Jena, Jena, D-07743, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"MORITZ","family":"MAUS","sequence":"additional","affiliation":[{"name":"Lauflabor Locomotion Laboratory, Friedrich-Schiller-Universit\u00e4t Jena, Jena, D-07743, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"DORIAN","family":"SCHOLZ","sequence":"additional","affiliation":[{"name":"Simulation, Systems Optimization and Robotics Group, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, D-64289, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"ANDRE","family":"SEYFARTH","sequence":"additional","affiliation":[{"name":"Lauflabor Locomotion Laboratory, Friedrich-Schiller-Universit\u00e4t Jena, Jena, D-07743, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"OSKAR","family":"VON STRYK","sequence":"additional","affiliation":[{"name":"Simulation, Systems Optimization and Robotics Group, Department of Computer Science, Technische Universit\u00e4t Darmstadt, Darmstadt, D-64289, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2012,4,6]]},"reference":[{"key":"rf1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"rf5","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(01)00245-7"},{"key":"rf6","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"rf8","doi-asserted-by":"crossref","DOI":"10.1109\/MEX.1986.4307016","volume-title":"Legged Robots that Balance","author":"Raibert M. 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