{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:01:36Z","timestamp":1777716096872,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"7","license":[{"start":{"date-parts":[[2005,7,1]],"date-time":"2005-07-01T00:00:00Z","timestamp":1120176000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2005,7]]},"abstract":"<jats:p>\n                    <jats:italic toggle=\"yes\">This paper is devoted to a stability study of a walking gait for a biped. The                     walking gait is periodic and it is composed of a single-support phase, a passive                     impact, and a double-support phase. The reference trajectories are described as                     a function of the shin orientation versus the ground of the stance leg. We use                     the Poincar\u00e9 map to study the stability of the walking gait of the                     biped. We only study the stability of dynamics not controlled during the                     single-support phase, i.e., the dynamics of the shin angle. We then suppose                     there is no perturbation in the tracking of the references of the other joint                     angles of the biped. The studied Poincar\u00e9 map is then of dimension                     one. With a particular control law in double support, it is shown theoretically                     and in simulation that a perturbation error in the velocity of the shin angle                     can be eliminated in one step only. The zone of convergence in one step is                     determined. The condition of existence of a cyclic gait is given, and for a                     given cyclic gait, the stability condition is also given. It is shown that due                     to the given control law for the overactuated double-support phase, a cyclic                     motion is practically guaranteed to be stable. It should be noted it is possible                     for the biped to reach a periodic regime from a stopped position in one step.<\/jats:italic>\n                  <\/jats:p>","DOI":"10.1177\/0278364905055378","type":"journal-article","created":{"date-parts":[[2005,7,5]],"date-time":"2005-07-05T05:50:42Z","timestamp":1120542642000},"page":"537-551","source":"Crossref","is-referenced-by-count":35,"title":["A Simplified Stability Study for a Biped Walk with Underactuated and                 Overactuated Phases"],"prefix":"10.1177","volume":"24","author":[{"given":"Sylvain","family":"Miossec","sequence":"first","affiliation":[{"name":"Institut de Recherche en Communications et Cybern\u00e9tique de                         Nantes, U.M.R. 6597, 1 rue de la No\u00eb, BP 92101, 44321 Nantes cedex                         3, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yannick","family":"Aoustin","sequence":"additional","affiliation":[{"name":"Institut de Recherche en Communications et Cybern\u00e9tique de                         Nantes, U.M.R. 6597, 1 rue de la No\u00eb, BP 92101, 44321 Nantes cedex                         3, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2005,7]]},"reference":[{"key":"e_1_2_1_1_1","first-page":"159","volume":"42","year":"2003","unstructured":"Aoustin, Y., and Formal\u2019sky, A. 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Ph.D. Thesis Ecole Centrale de Nantes et Universit\u00e9 de Nantes France (in French)."},{"key":"e_1_2_1_16_1","unstructured":"Miossec S. and Aoustin Y. 2002a. Mouvement de marche compos\u00e9 de simple et double supports pour un robot bip\u00e8de planaire sans pieds . Proceedings of CIFA 2002 France (in French)."},{"key":"e_1_2_1_17_1","unstructured":"Miossec S. and Aoustin Y. 2002b. Walking gait composed of single and double supports for a planar biped without feet . Proceedings of the 5th International Conference on Climbing and Walking Robots (CLAWAR) Paris France September 25-27 pp. 767-774 ."},{"key":"e_1_2_1_18_1","doi-asserted-by":"crossref","unstructured":"Roussel L. Canudas-de-Wit C. and Goswami A. 1998. Generation of energy optimal complete gait cycles for biped . Proceedings of the IEEE Conference on Robotics and Automation Leuven Belgium pp. 2036 .","DOI":"10.1109\/ROBOT.1998.680615"},{"key":"e_1_2_1_19_1","doi-asserted-by":"crossref","unstructured":"Vukobratovic M. 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