{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:56:32Z","timestamp":1777715792951,"version":"3.51.4"},"reference-count":51,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2019,12,24]],"date-time":"2019-12-24T00:00:00Z","timestamp":1577145600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/100011273","name":"FP7 Information and Communication Technologies","doi-asserted-by":"publisher","award":["225929"],"award-info":[{"award-number":["225929"]}],"id":[{"id":"10.13039\/100011273","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100010663","name":"H2020 European Research Council","doi-asserted-by":"publisher","award":["ERC-ADG 340050"],"award-info":[{"award-number":["ERC-ADG 340050"]}],"id":[{"id":"10.13039\/100010663","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100016308","name":"Bpifrance","doi-asserted-by":"crossref","award":["Romeo 2"],"award-info":[{"award-number":["Romeo 2"]}],"id":[{"id":"10.13039\/100016308","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:p>During the steady gait, humans stabilize their head around the vertical orientation. Although there are sensori-cognitive explanations for this phenomenon, its mechanical effect on the body dynamics remains unexplored. In this study, we take profit from the similarities that human steady gait shares with the locomotion of passive-dynamics robots. We introduce a simplified anthropometric 2D model to reproduce a broad walking dynamics. In a previous study, we showed heuristically that the presence of a stabilized head\u2013neck system has a significant influence on the dynamics of walking. This article gives new insights that lead to understanding this mechanical effect. In particular, we introduce an original cart upper-body model that allows to better understand the mechanical interest of head stabilization when walking, and we study how this effect is sensitive to the choice of control parameters.<\/jats:p>","DOI":"10.1177\/0278364919894387","type":"journal-article","created":{"date-parts":[[2019,12,24]],"date-time":"2019-12-24T07:44:49Z","timestamp":1577173489000},"page":"461-475","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["On the mechanical contribution of head stabilization to passive dynamics of anthropometric walkers"],"prefix":"10.1177","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7537-9498","authenticated-orcid":false,"given":"Mehdi","family":"Benallegue","sequence":"first","affiliation":[{"name":"National Institute of Advanced Industrial Science and Technology, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jean-Paul","family":"Laumond","sequence":"additional","affiliation":[{"name":"Joint Research Unit CNRS\/ENS\/INRIA\/PSL UMR8548, Paris, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alain","family":"Berthoz","sequence":"additional","affiliation":[{"name":"Coll\u00e8ge de France, Paris, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,12,24]]},"reference":[{"key":"bibr1-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1126\/science.1111110"},{"key":"bibr2-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1115\/1.1392310"},{"key":"bibr3-0278364919894387","unstructured":"Armstrong HG (1988) Anthropometry and mass distribution for human analogues. Technical report, Aerospace Medical Research Lab, Wright-Patterson AFB, Ohio, USA."},{"key":"bibr4-0278364919894387","author":"Benallegue M","year":"2013","journal-title":"Robotics, Science and Systems"},{"key":"bibr5-0278364919894387","first-page":"5638","volume":"2013","author":"Benallegue M","year":"2013","journal-title":"ICRA"},{"key":"bibr6-0278364919894387","volume-title":"The Brain\u2019s Sense of Movement","author":"Berthoz A","year":"2002"},{"key":"bibr7-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00198.2002"},{"key":"bibr8-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909340446"},{"key":"bibr9-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.2010366"},{"key":"bibr10-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"bibr11-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1002\/pri.298"},{"key":"bibr12-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(02)00094-2"},{"key":"bibr13-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1093\/gerona\/57.7.M442"},{"key":"bibr14-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1002\/pri.226"},{"key":"bibr15-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1109\/10.102791"},{"key":"bibr16-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/S1388-2457(03)00120-2"},{"key":"bibr17-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.205.23.3717"},{"key":"bibr18-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1098\/rspa.2018.0010"},{"key":"bibr19-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008844026298"},{"key":"bibr20-0278364919894387","volume-title":"Vestibular Rehabilitation","author":"Herdman SJ","year":"2014"},{"issue":"8","key":"bibr21-0278364919894387","first-page":"819","volume":"129","author":"Herdman SJ","year":"2003","journal-title":"JAMA Otolaryngology \u2013 Head and Neck Surgery"},{"key":"bibr22-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.neulet.2005.03.046"},{"key":"bibr23-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1098\/rspb.1953.0027"},{"key":"bibr24-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/1050-6411(92)90024-D"},{"key":"bibr25-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2014.12.005"},{"key":"bibr26-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917693292"},{"key":"bibr27-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2011.6095019"},{"key":"bibr28-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2018.03.008"},{"key":"bibr29-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"bibr30-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1080\/003655098444309"},{"key":"bibr31-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004724"},{"key":"bibr32-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/S0966-6362(02)00070-X"},{"key":"bibr33-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(01)00105-1"},{"key":"bibr34-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1007\/BF00230842"},{"key":"bibr35-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2011.03.003"},{"key":"bibr36-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1109\/SIMPAR.2016.7862383"},{"key":"bibr37-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1097\/00129492-200205000-00025"},{"key":"bibr38-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.apmr.2007.11.010"},{"key":"bibr39-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2015.08.008"},{"key":"bibr40-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/S0021-9290(00)00200-1"},{"key":"bibr41-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.math.2011.01.012"},{"key":"bibr42-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-017-9689-y"},{"key":"bibr43-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.jbiomech.2005.02.010"},{"key":"bibr44-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2042458"},{"key":"bibr45-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.math.2007.06.003"},{"key":"bibr46-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1007\/BF00319778"},{"key":"bibr47-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1016\/j.neulet.2004.12.024"},{"key":"bibr48-0278364919894387","volume-title":"Handbook of Robotics","author":"Wieber P","year":"2015","edition":"2"},{"key":"bibr49-0278364919894387","doi-asserted-by":"crossref","first-page":"147","DOI":"10.1097\/00003086-198305000-00021","volume":"175","author":"Winter DA","year":"1983","journal-title":"Clinical Orthopaedics and Related Research"},{"key":"bibr50-0278364919894387","first-page":"110","author":"Wisse M","year":"2006","journal-title":"IEEE-RAS Humanoids"},{"key":"bibr51-0278364919894387","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-72808-5"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919894387","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0278364919894387","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364919894387","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:25Z","timestamp":1777457785000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364919894387"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,24]]},"references-count":51,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2020,3]]}},"alternative-id":["10.1177\/0278364919894387"],"URL":"https:\/\/doi.org\/10.1177\/0278364919894387","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,12,24]]}}}