{"id":"https://openalex.org/W2477690241","doi":"https://doi.org/10.1109/biorob.2016.7523789","title":"A geometric method for center of mass estimation in rough planar terrains","display_name":"A geometric method for center of mass estimation in rough planar terrains","publication_year":2016,"publication_date":"2016-06-01","ids":{"openalex":"https://openalex.org/W2477690241","doi":"https://doi.org/10.1109/biorob.2016.7523789","mag":"2477690241"},"language":"en","primary_location":{"id":"doi:10.1109/biorob.2016.7523789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"},"type":"article","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/A5066060919","display_name":"Luenin Barrios","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Luenin Barrios","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Los Angeles, U.S.A"],"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Los Angeles, U.S.A","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103357388","display_name":"Wei\u2010Min Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wei-Min Shen","raw_affiliation_strings":["Information Sciences Institute, University of Southern California, Los Angeles, U.S.A"],"affiliations":[{"raw_affiliation_string":"Information Sciences Institute, University of Southern California, Los Angeles, U.S.A","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5066060919"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.06483104,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1166","last_page":"1171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9940000176429749,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7092074155807495},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6222582459449768},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.615269124507904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6038343906402588},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.5861101746559143},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5540138483047485},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.47880396246910095},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4704795181751251},{"id":"https://openalex.org/keywords/instant-centre-of-rotation","display_name":"Instant centre of rotation","score":0.46118906140327454},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4116283655166626},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4028357267379761},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3428475856781006},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.3313046097755432},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.20092827081680298},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.1463969349861145},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1090582013130188}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7092074155807495},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6222582459449768},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.615269124507904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6038343906402588},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.5861101746559143},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5540138483047485},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.47880396246910095},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4704795181751251},{"id":"https://openalex.org/C76724020","wikidata":"https://www.wikidata.org/wiki/Q1429043","display_name":"Instant centre of rotation","level":3,"score":0.46118906140327454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4116283655166626},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4028357267379761},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3428475856781006},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.3313046097755432},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.20092827081680298},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.1463969349861145},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1090582013130188},{"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/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/biorob.2016.7523789","is_oa":false,"landing_page_url":"https://doi.org/10.1109/biorob.2016.7523789","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1553998366","https://openalex.org/W1559393815","https://openalex.org/W1592032562","https://openalex.org/W1683364440","https://openalex.org/W1997861712","https://openalex.org/W1998386920","https://openalex.org/W2002886041","https://openalex.org/W2026498687","https://openalex.org/W2033277871","https://openalex.org/W2044277690","https://openalex.org/W2049850362","https://openalex.org/W2067786449","https://openalex.org/W2133436125","https://openalex.org/W2139241871","https://openalex.org/W2148371229","https://openalex.org/W2151726333","https://openalex.org/W2160348526","https://openalex.org/W2165198451","https://openalex.org/W2168337660","https://openalex.org/W2250331966","https://openalex.org/W2469682870","https://openalex.org/W2734585497","https://openalex.org/W3041596487","https://openalex.org/W4211003818","https://openalex.org/W4235735043","https://openalex.org/W6635445661","https://openalex.org/W6684357543","https://openalex.org/W6780203914"],"related_works":["https://openalex.org/W4285089922","https://openalex.org/W1967105948","https://openalex.org/W2347484126","https://openalex.org/W2033579565","https://openalex.org/W2362207926","https://openalex.org/W2365217713","https://openalex.org/W2379286352","https://openalex.org/W4247038157","https://openalex.org/W2376037333","https://openalex.org/W2089199149"],"abstract_inverted_index":{"Center":[0],"of":[1,20,40,69,75,87,107,128],"Mass(CoM)":[2],"estimation":[3,30,58],"in":[4,17],"rough":[5,60,136],"terrains":[6,62,138],"is":[7,81],"hampered":[8],"by":[9,33],"complicated":[10],"body":[11],"dynamics":[12],"yet":[13],"remains":[14],"critically":[15],"important":[16],"the":[18,38,70,76,88,105,108,121,129],"study":[19],"human":[21,113],"and":[22,52,72,92,101,139],"robot":[23],"motion":[24,44],"planning.":[25],"Current":[26],"techniques":[27],"for":[28,56,132,144],"CoM":[29,57,80,130,145],"are":[31],"encumbered":[32],"lengthy":[34],"calibration":[35],"periods":[36],"requiring":[37],"use":[39],"specialized":[41],"tools(force":[42],"plates,":[43],"capture,":[45],"etc).":[46],"This":[47],"paper":[48],"presents":[49],"a":[50,84,141],"novel":[51],"straightforward":[53],"geometric":[54,122],"method":[55,123],"over":[59,135],"planar":[61,137],"that":[63,120],"relies":[64],"solely":[65],"on":[66],"geometry":[67],"information":[68],"environment":[71],"essential":[73],"knowledge":[74],"kinematic":[77],"body.":[78],"The":[79,117],"approximated":[82],"using":[83],"simplified":[85],"model":[86],"contact":[89],"foot":[90],"locations":[91],"an":[93,125],"Optimized":[94],"Geometric":[95],"Hermite(OGH)":[96],"curve":[97],"with":[98,112],"minimum":[99],"curvature":[100],"length.":[102],"To":[103],"evaluate":[104],"accuracy":[106],"method,":[109],"cross":[110],"validation":[111],"subjects":[114],"was":[115],"performed.":[116],"results":[118],"demonstrate":[119],"delivers":[124],"accurate":[126],"approximation":[127],"path":[131],"natural":[133],"walking":[134],"offers":[140],"reliable":[142],"alternative":[143],"estimation.":[146]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
