{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:58:21Z","timestamp":1760345901278,"version":"3.38.0"},"reference-count":19,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2006,9,1]],"date-time":"2006-09-01T00:00:00Z","timestamp":1157068800000},"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":[[2006,9]]},"abstract":"<jats:p> In this paper, we investigate the limit cycle of a biped walker driven by pairs of pneumatic artificial muscles. We show, experimentally, that the period of the limit cycle changes when different control parameters are applied and estimate the relationship between the period and the parameters through trials. A step-by-step feedback controller is proposed to stabilize walking based on the estimated relation. The stability of the feedback controller is demonstrated by showing that the biped can walk down a stair. <\/jats:p>","DOI":"10.1177\/0278364906069187","type":"journal-article","created":{"date-parts":[[2006,8,23]],"date-time":"2006-08-23T14:18:08Z","timestamp":1156342688000},"page":"861-866","source":"Crossref","is-referenced-by-count":60,"title":["Controlling the Walking Period of a Pneumatic Muscle Walker"],"prefix":"10.1177","volume":"25","author":[{"given":"Takashi","family":"Takuma","sequence":"first","affiliation":[{"name":"Department of Adaptive Machine Systems Graduate School of Engineering,                         Osaka University Yamadaoka 2-1, Suita, Osaka 565-0871, Japan,"}]},{"given":"Koh","family":"Hosoda","sequence":"additional","affiliation":[{"name":"Department of Adaptive Machine Systems Graduate School of Engineering,                         Osaka University Yamadaoka 2-1, Suita, Osaka 565-0871, Japan,"}]}],"member":"179","published-online":{"date-parts":[[2006,9,1]]},"reference":[{"volume-title":"Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Asano, F.","first-page":"2637","key":"atypb1"},{"doi-asserted-by":"publisher","key":"atypb2","DOI":"10.1109\/70.481753"},{"doi-asserted-by":"publisher","key":"atypb3","DOI":"10.1126\/science.1107799"},{"doi-asserted-by":"publisher","key":"atypb4","DOI":"10.1115\/1.2798313"},{"volume-title":"IEEE International Conference of Robotics and Automation (ICRA)","author":"Goswami, S.","first-page":"246","key":"atypb5"},{"volume-title":"Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA)","author":"Hirai, K.","first-page":"1321","key":"atypb6"},{"volume-title":"Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA)","author":"Kajita, S.","first-page":"31","key":"atypb7"},{"volume-title":"Proceedings of the 2004 IEEE International Conference on Robotics and Automation (ICRA)","author":"Kaneko, K.","first-page":"1083","key":"atypb8"},{"doi-asserted-by":"publisher","key":"atypb9","DOI":"10.1115\/1.482478"},{"doi-asserted-by":"publisher","key":"atypb10","DOI":"10.1163\/15685530260174539"},{"doi-asserted-by":"publisher","key":"atypb11","DOI":"10.1177\/027836499000900206"},{"volume-title":"Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Morita, S.","first-page":"2825","key":"atypb12"},{"volume-title":"Proceedings of the 2005 IEEE Internation Conference on Robotics and Automation (IROS)","author":"Ogura, Y.","first-page":"605","key":"atypb13"},{"volume-title":"Proceedings of 5th International Conference on Climbing and Walking Robots (CLAWAR2002)","author":"Sugimoto, Y.","key":"atypb14"},{"doi-asserted-by":"publisher","key":"atypb15","DOI":"10.1109\/70.781963"},{"doi-asserted-by":"publisher","key":"atypb16","DOI":"10.1016\/0025-5564(72)90061-2"},{"volume-title":"IEEE RAS\/RSJ International Conference on Humanoid Robots (Humanoids 2004)","author":"Wisse, M.","key":"atypb17"},{"volume-title":"2nd International Symposium on Adaptive Motion of Animals and Machined (AMAM)","author":"Wisse, M.","key":"atypb18"},{"volume-title":"Proceedings of the 1998 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Yamaguchi, J.","first-page":"96","key":"atypb19"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069187","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364906069187","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,2]],"date-time":"2025-03-02T19:41:35Z","timestamp":1740944495000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364906069187"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2006,9]]},"references-count":19,"journal-issue":{"issue":"9","published-print":{"date-parts":[[2006,9]]}},"alternative-id":["10.1177\/0278364906069187"],"URL":"https:\/\/doi.org\/10.1177\/0278364906069187","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[2006,9]]}}}