The DOI matches its Crossref record.
Passive Dynamic Walking
Abstract
There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to human walking, without active control or en ergy input. Interpretation and analysis of the physics are straightforward; the walking cycle, its stability, and its sensi tivity to parameter variations are easily calculated. Experi ments with a test machine verify that the passive walking effect can be readily exploited in practice. The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
Supersizing the Mind: Embodiment, Action, and Cognitive Extension
Clark, A. (2008) · doi:10.1093/acprof:oso/9780195333213.001.0001 · Cited by 2,201
Active control of lateral balance in human walking
Bauby, C. E., & Kuo, A. D. (2000) · Journal of Biomechanics · doi:10.1016/s0021-9290(00)00101-9 · Cited by 851
Thelen, E., & Smith, L. B. (2007) · Handbook of Child Psychology · doi:10.1002/9780470147658.chpsy0106 · Cited by 729
Energetic Consequences of Walking Like an Inverted Pendulum: Step-to-Step Transitions
Kuo, A. D., Donelan, J. M., & Ruina, A. (2005) · Exercise and Sport Sciences Reviews · doi:10.1097/00003677-200504000-00006 · Cited by 675
Donelan, J. M., Kram, R., & Kuo, A. D. (2002) · Journal of Experimental Biology · doi:10.1242/jeb.205.23.3717 · Cited by 670
Metadata
- Authors
- McGeer, T.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1990-04
- Volume
- 9
- Issue
- 2
- Pages
- 62-82
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2163668399
- Cited by
- 3,359
- References
- 0
- FWCI
- 10.21
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Passive Dynamic Walking. https://app.cochat.ai/papers/10.1177/027836499000900206
- The paper
- McGeer, T. (1990). Passive Dynamic Walking. The International Journal of Robotics Research. https://doi.org/10.1177/027836499000900206
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
