{"id":"https://openalex.org/W2104585337","doi":"https://doi.org/10.1109/isie.2014.6864781","title":"An optimal estimation of feet contact distributed normal reaction forces of walking bipeds","display_name":"An optimal estimation of feet contact distributed normal reaction forces of walking bipeds","publication_year":2014,"publication_date":"2014-06-01","ids":{"openalex":"https://openalex.org/W2104585337","doi":"https://doi.org/10.1109/isie.2014.6864781","mag":"2104585337"},"language":"en","primary_location":{"id":"doi:10.1109/isie.2014.6864781","doi":"https://doi.org/10.1109/isie.2014.6864781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2014.6864781","pdf_url":null,"source":{"id":"https://openalex.org/S4363605663","display_name":"IEEE International Symposium on Industrial Electronics (ISIE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090821437","display_name":"Iyad Hashlamon","orcid":"https://orcid.org/0000-0002-8278-689X","observed_orcids":["https://orcid.org/0000-0002-8278-689X"]},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Iyad Hashlamon","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033078122","display_name":"Kemalettin Erbatur","orcid":"https://orcid.org/0000-0001-6024-5112","observed_orcids":["https://orcid.org/0000-0001-6024-5112"]},"institutions":[{"id":"https://openalex.org/I134235054","display_name":"Sabanc\u0131 \u00dcniversitesi","ror":"https://ror.org/049asqa32","country_code":"TR","type":"education","lineage":["https://openalex.org/I134235054"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Kemalettin Erbatur","raw_affiliation_strings":["Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, Turkey","Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Engineering and Natural Sciences, Sabanci University, Tuzla, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]},{"raw_affiliation_string":"Fac. of Eng. & Natural Sci., Sabanci Univ, Istanbul, Turkey","institution_ids":["https://openalex.org/I134235054"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I134235054"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1180","last_page":"1185"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9932000041007996,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0013000000035390258,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.7289999723434448},{"id":"https://openalex.org/keywords/optimal-estimation","display_name":"optimal estimation","score":0.7360000014305115},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"inertial measurement unit","score":0.7940000295639038},{"id":"https://openalex.org/keywords/newton-euler-dynamics","display_name":"Newton-Euler dynamics","score":0.8259999752044678},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"quadratic programming","score":0.7580000162124634},{"id":"https://openalex.org/keywords/contact-force-estimation","display_name":"contact force estimation","score":0.6420000195503235}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6309287548065186},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6039110422134399},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6000499129295349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5568757057189941},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5072810053825378},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4958589971065521},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.48895323276519775},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47033199667930603},{"id":"https://openalex.org/C146160929","wikidata":"https://www.wikidata.org/wiki/Q751290","display_name":"Euler angles","level":2,"score":0.46930909156799316},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.4398967921733856},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.42723289132118225},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3976592421531677},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3848266005516052},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2490159571170807},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23788058757781982},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15646806359291077},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1543743908405304},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11936476826667786},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08009180426597595},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0729181170463562},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/isie.2014.6864781","doi":"https://doi.org/10.1109/isie.2014.6864781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isie.2014.6864781","pdf_url":null,"source":{"id":"https://openalex.org/S4363605663","display_name":"IEEE International Symposium on Industrial Electronics (ISIE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE)","raw_type":"proceedings-article"},{"id":"pmh:oai:research.sabanciuniv.edu:24254","doi":null,"is_oa":false,"landing_page_url":"https://research.sabanciuniv.edu/id/eprint/24254/1/1180-ef-002127.pdf","pdf_url":"https://research.sabanciuniv.edu/id/eprint/24254/1/1180-ef-002127.pdf","source":{"id":"https://openalex.org/S4306402254","display_name":"Sabanci University","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I134235054","host_organization_name":"Sabanc\u0131 \u00dcniversitesi","host_organization_lineage":["https://openalex.org/I134235054"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Papers in Conference Proceedings"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W6232081","https://openalex.org/W96078568","https://openalex.org/W1551977735","https://openalex.org/W1596992554","https://openalex.org/W1969025387","https://openalex.org/W2037729465","https://openalex.org/W2072354805","https://openalex.org/W2080421646","https://openalex.org/W2090954823","https://openalex.org/W2104479525","https://openalex.org/W2108723098","https://openalex.org/W2110779246","https://openalex.org/W2127053928","https://openalex.org/W2127763473","https://openalex.org/W2128166584","https://openalex.org/W2142992961","https://openalex.org/W2145788561","https://openalex.org/W2162164768","https://openalex.org/W2165178808","https://openalex.org/W2170116736","https://openalex.org/W2320644680","https://openalex.org/W2510887219","https://openalex.org/W2535579907","https://openalex.org/W4244957735","https://openalex.org/W7036288715"],"related_works":["https://openalex.org/W2620174812","https://openalex.org/W1543122975","https://openalex.org/W4386994938","https://openalex.org/W1539410082","https://openalex.org/W2562261801","https://openalex.org/W2885166473","https://openalex.org/W2630878520","https://openalex.org/W2975407293","https://openalex.org/W2412605899","https://openalex.org/W4406781925"],"abstract_inverted_index":{"The":[0,39,64,71],"motion":[1,40],"of":[2,22,36,73,86],"a":[3],"walking":[4,37],"biped":[5],"has":[6],"rich":[7],"information":[8],"about":[9],"the":[10,13,23,29,33,45,51,74,87],"contacts":[11],"with":[12],"environment.":[14],"This":[15],"paper":[16],"presents":[17],"an":[18],"optimal":[19],"estimation":[20,76],"method":[21,68,77],"distributed":[24],"normal":[25],"reaction":[26],"forces":[27],"at":[28],"contact":[30],"points":[31],"on":[32,82],"feet":[34],"soles":[35],"bipeds.":[38],"is":[41,69],"acquired":[42],"by":[43,80],"employing":[44],"inertial":[46],"measurement":[47],"unit":[48],"(IMU)":[49],"and":[50],"joint-encoder":[52],"readings":[53],"into":[54],"Newton-Euler":[55],"dynamic":[56],"equations":[57],"without":[58],"using":[59],"any":[60],"force":[61],"sensor":[62],"model.":[63],"quadratic":[65],"programming":[66],"optimization":[67],"used.":[70],"validity":[72],"proposed":[75],"was":[78],"confirmed":[79],"simulations":[81],"3D":[83],"dynamics":[84],"model":[85],"humanoid":[88],"robot":[89],"SURALP":[90],"while":[91],"walking.":[92]},"counts_by_year":[],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2016-06-24T00:00:00"}