{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:16Z","timestamp":1777715836563,"version":"3.51.4"},"reference-count":20,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2009,2,1]],"date-time":"2009-02-01T00:00:00Z","timestamp":1233446400000},"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":[[2009,2]]},"abstract":"<jats:p>Elasticity in conventionally built walking robots is an undesired side-effect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to configure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.<\/jats:p>","DOI":"10.1177\/0278364908095843","type":"journal-article","created":{"date-parts":[[2009,1,22]],"date-time":"2009-01-22T09:53:13Z","timestamp":1232617993000},"page":"257-265","source":"Crossref","is-referenced-by-count":40,"title":["Towards Bipedal Jogging as a Natural Result of Optimizing Walking Speed for Passively Compliant Three-Segmented Legs"],"prefix":"10.1177","volume":"28","author":[{"given":"A.","family":"Seyfarth","sequence":"first","affiliation":[{"name":"University of Jena, Locomotion Lab Dornburger Strasse 23, D-07743 Jena, Germany,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Iida","sequence":"additional","affiliation":[{"name":"University of Jena, Locomotion Lab Dornburger Strasse 23, D-07743 Jena, Germany,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.","family":"Tausch","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, -darmstadt.de"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Stelzer","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, -darmstadt.de"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"O.","family":"von Stryk","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Darmstadt, Simulation, Systems Optimization and Robotics Group Hochschulstrasse 10, D-64289 Darmstadt, Germany, -darmstadt.de"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Karguth","sequence":"additional","affiliation":[{"name":"TETRA - Gesellschaft f\u00fcr Sensorik, Robotik und Automation mbH Gewerbepark \u201cAm Wald\" 4 D-98693 Ilmenau, Germany,"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,2,1]]},"reference":[{"key":"atypb1","volume-title":"Pattern search filter algorithms for mixed variable general constrained optimization problems. Ph.D. Thesis","author":"Abramson, M.A.","year":"2002"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(89)90224-8"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1152\/jappl.1964.19.2.249"},{"key":"atypb4","volume-title":"New asimo - running at 6km\/h","author":"Honda Motors Co.","year":"2005"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906063822"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.2006.3637"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1137\/0805015"},{"key":"atypb9","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Hirai, K."},{"key":"atypb10","volume-title":"Proceedings of Intelligent Autonomous Systems (IAS)","author":"Iida, F."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2007.09.033"},{"key":"atypb12","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intell. Rob. Syst. (IROS)","author":"Ishida, T."},{"key":"atypb13","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)","author":"Kaneko, K."},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1177\/027836403128964971"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(01)00245-7"},{"key":"atypb18","volume-title":"Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control","author":"Seyfarth, A."},{"key":"atypb19","first-page":"759","volume":"8","author":"Van Ham, R.","year":"2005","journal-title":"Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)"},{"key":"atypb20","volume-title":"Proceedings of the 7th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR)","author":"Vanderborght, B."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908095843","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364908095843","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:36Z","timestamp":1777457796000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364908095843"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,2]]},"references-count":20,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2009,2]]}},"alternative-id":["10.1177\/0278364908095843"],"URL":"https:\/\/doi.org\/10.1177\/0278364908095843","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,2]]}}}