{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,29]],"date-time":"2026-05-29T20:28:48Z","timestamp":1780086528392,"version":"3.54.0"},"reference-count":27,"publisher":"World Scientific Pub Co Pte Ltd","issue":"04","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2018,8]]},"abstract":"<jats:p> Asymptotically stable control of biped robots, especially based on reproducing passive periodic motions, have become of interest nowadays. In this paper, firstly, a three-dimensional (3D) stable passive biped walker which is a compass gait one with flat feet, compliant ankles and particular arrangement of moments of inertia has been presented. Then, a passivity-based control of the related biped robot based on elaborating 3D form of potential energy shaping method has been applied. In other words, by adding minimal actuations to the aforementioned passive walker, its passive periodic gait that belongs to a particular slope has been reproduced on any arbitrary surface such as the level ground. Simulation results support the effectiveness of the proposed approach. <\/jats:p>","DOI":"10.1142\/s0219843618500093","type":"journal-article","created":{"date-parts":[[2018,3,16]],"date-time":"2018-03-16T03:17:08Z","timestamp":1521170228000},"page":"1850009","source":"Crossref","is-referenced-by-count":13,"title":["From a 3D Passive Biped Walker to a 3D Passivity-Based Controlled Robot"],"prefix":"10.1142","volume":"15","author":[{"given":"Borhan","family":"Beigzadeh","sequence":"first","affiliation":[{"name":"Biomechatronics and Cognitive Engineering Research Lab, School of Mechanical Engineering, Iran University of Science and Technology, Tehran 16765-163, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad Reza","family":"Sabaapour","sequence":"additional","affiliation":[{"name":"Intelligent Medical Robotics Lab, School of Integrated Technology, Gwangju Institute of Science and Technology, Gwangju 61005, South Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad Reza Hairi","family":"Yazdi","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, University of Tehran, Tehran 14155-6619, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9835-7897","authenticated-orcid":false,"given":"Kaamran","family":"Raahemifar","sequence":"additional","affiliation":[{"name":"Electrical and Computer Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"219","published-online":{"date-parts":[[2018,8,8]]},"reference":[{"key":"S0219843618500093BIB001","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2014.04.021"},{"key":"S0219843618500093BIB002","doi-asserted-by":"publisher","DOI":"10.1177\/0954406214531407"},{"key":"S0219843618500093BIB003","doi-asserted-by":"publisher","DOI":"10.1243\/PIME_PROC_1996_210_184_02"},{"key":"S0219843618500093BIB004","doi-asserted-by":"publisher","DOI":"10.1006\/jtbi.1993.1121"},{"key":"S0219843618500093BIB005","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"S0219843618500093BIB006","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0219843618500093BIB007","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008844026298"},{"key":"S0219843618500093BIB010","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000570"},{"key":"S0219843618500093BIB011","doi-asserted-by":"publisher","DOI":"10.3182\/20020721-6-ES-1901.00904"},{"key":"S0219843618500093BIB014","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066655"},{"key":"S0219843618500093BIB015","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"S0219843618500093BIB016","doi-asserted-by":"publisher","DOI":"10.1103\/PhysRevE.64.022901"},{"key":"S0219843618500093BIB017","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2015.1107500"},{"key":"S0219843618500093BIB022","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709005736"},{"key":"S0219843618500093BIB023","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"S0219843618500093BIB024","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010366"},{"key":"S0219843618500093BIB025","doi-asserted-by":"publisher","DOI":"10.1017\/S026357471100138X"},{"key":"S0219843618500093BIB029","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.847610"},{"key":"S0219843618500093BIB031","doi-asserted-by":"publisher","DOI":"10.1109\/9.956051"},{"key":"S0219843618500093BIB032","doi-asserted-by":"publisher","DOI":"10.1109\/9.895562"},{"key":"S0219843618500093BIB033","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.851449"},{"key":"S0219843618500093BIB035","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909104296"},{"key":"S0219843618500093BIB037","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843607000960"},{"key":"S0219843618500093BIB038","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843616500134"},{"key":"S0219843618500093BIB039","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2012.05.001"},{"key":"S0219843618500093BIB043","doi-asserted-by":"publisher","DOI":"10.1109\/9.898695"},{"issue":"2","key":"S0219843618500093BIB044","first-page":"185","volume":"227","author":"Beigzadeh B.","year":"2013","journal-title":"Proc. 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