{
  "annotation_id": "44928fcf-1fba-470c-aad3-b49a4ea9fe6d",
  "date_created": "2026-03-02T18:00:35.936000Z",
  "date_modified": "2026-03-02T18:00:35.936000Z",
  "file_hash": "9c6644725424f35a8526343fcb2d188ea8b3bae51fbe6ab91b1b7c38db2a5cb0",
  "private": false,
  "record": {
    "abstract": "Previous experiments [M. J. Coleman and A. Ruina, Phys. Rev. Lett. 80, 3658\n(1998)] showed that a gravity-powered toy with no control and which has no\nstatically stable near-standing configurations can walk stably. We show here\nthat a simple rigid-body statically-unstable mathematical model based loosely\non the physical toy can predict stable limit-cycle walking motions. These\ncalculations add to the repertoire of rigid-body mechanism behaviors as well as\nfurther implicating passive-dynamics as a possible contributor to stability of\nanimal motions.",
    "arxiv_id": "physics/0104034",
    "authors": [
      "Michael J. Coleman",
      "Mariano Garcia",
      "Katja Mombaur",
      "Andy Ruina"
    ],
    "categories": [
      "physics.class-ph",
      "physics.med-ph"
    ],
    "doi": "10.1103/PhysRevE.64.022901",
    "title": "Prediction of stable walking for a toy that cannot stand",
    "url": "https://arxiv.org/abs/physics/0104034"
  },
  "schema_id": "dorsal/arxiv",
  "source": {
    "execution_id": "ba761871-b44a-45c3-b659-1d2fce9c6bdf",
    "id": "arXiv Dataset IDs",
    "type": "Model",
    "variant": "snapshot-2026-03-01",
    "version": "0.1.0"
  },
  "user_id": 1000002
}