{"id":"https://openalex.org/W4285047705","doi":"https://doi.org/10.1109/icra46639.2022.9812130","title":"Characterizing Error in Noncommutative Geometric Gait Analysis","display_name":"Characterizing Error in Noncommutative Geometric Gait Analysis","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285047705","doi":"https://doi.org/10.1109/icra46639.2022.9812130"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5057600272","display_name":"Capprin Bass","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Capprin Bass","raw_affiliation_strings":["Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028600451","display_name":"Suresh Ramasamy","orcid":"https://orcid.org/0000-0003-1077-3560"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Suresh Ramasamy","raw_affiliation_strings":["Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076997453","display_name":"Ross L. Hatton","orcid":"https://orcid.org/0000-0002-0422-0209"},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ross L. Hatton","raw_affiliation_strings":["Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University,Corvallis,Oregon","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Collaborative Institute for Robotics and Intelligent Systems (CoRIS), Oregon State University, Corvallis, Oregon","institution_ids":["https://openalex.org/I131249849"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131249849"],"apc_list":null,"apc_paid":null,"fwci":1.7699,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.83649176,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"9845","last_page":"9851"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9994000196456909,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9983000159263611,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7747422456741333},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5878645181655884},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5665106773376465},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4677455723285675},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.44794440269470215},{"id":"https://openalex.org/keywords/gait-cycle","display_name":"Gait cycle","score":0.42362335324287415},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3574369549751282},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35441410541534424},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3166835308074951},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.22407352924346924},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15292412042617798},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09852007031440735},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09199997782707214},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07973700761795044}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7747422456741333},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5878645181655884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665106773376465},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4677455723285675},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.44794440269470215},{"id":"https://openalex.org/C2985215115","wikidata":"https://www.wikidata.org/wiki/Q22305006","display_name":"Gait cycle","level":3,"score":0.42362335324287415},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3574369549751282},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35441410541534424},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3166835308074951},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.22407352924346924},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15292412042617798},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09852007031440735},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09199997782707214},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07973700761795044},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812130","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812130","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"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":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6969813989","display_name":"CAREER: Geometric Understanding of Locomotion","funder_award_id":"1653220","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1530705471","https://openalex.org/W1647490791","https://openalex.org/W1966086223","https://openalex.org/W2015063509","https://openalex.org/W2032406975","https://openalex.org/W2056370235","https://openalex.org/W2060127978","https://openalex.org/W2094460003","https://openalex.org/W2108559035","https://openalex.org/W2133361850","https://openalex.org/W2171575945","https://openalex.org/W2951275009","https://openalex.org/W2963432663","https://openalex.org/W3098152838","https://openalex.org/W3106095942","https://openalex.org/W3127767253"],"related_works":["https://openalex.org/W2390475535","https://openalex.org/W2611160909","https://openalex.org/W3017911271","https://openalex.org/W2913503957","https://openalex.org/W2133973503","https://openalex.org/W2600139093","https://openalex.org/W2027166246","https://openalex.org/W4244219172","https://openalex.org/W2471060339","https://openalex.org/W2390631805"],"abstract_inverted_index":{"A":[0],"key":[1],"problem":[2],"in":[3,7],"robotic":[4],"locomotion":[5],"is":[6],"finding":[8],"optimal":[9],"shape":[10],"changes":[11],"to":[12,38,60],"effectively":[13,106],"displace":[14],"systems":[15,98],"through":[16],"the":[17,54,66],"world.":[18],"Variational":[19],"techniques":[20],"for":[21,50],"gait":[22,30,80],"optimization":[23],"require":[24],"estimates":[25,34,49],"of":[26,56,68,77,92],"body":[27,78],"displacement":[28],"per":[29],"cycle;":[31],"however,":[32],"these":[33,61,86],"introduce":[35],"error":[36],"due":[37],"unincluded":[39],"high":[40],"order":[41,58,71,109],"terms.":[42],"In":[43],"this":[44],"paper,":[45],"we":[46],"formulate":[47],"existing":[48],"displacement,":[51],"and":[52,73,82,103],"describe":[53,65],"contribution":[55],"low":[57],"terms":[59],"estimates.":[62],"We":[63,88],"additionally":[64],"magnitude":[67],"higher":[69],"(third)":[70],"effects,":[72],"identify":[74],"that":[75,90],"choice":[76],"coordinate,":[79],"diameter,":[81],"starting":[83],"phase":[84],"influence":[85],"effects.":[87],"demonstrate":[89],"variation":[91],"such":[93],"parameters":[94],"on":[95],"two":[96],"example":[97],"(the":[99],"differential":[100],"drive":[101],"car":[102],"Purcell":[104],"swimmer)":[105],"manages":[107],"third":[108],"contributions.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-06T08:24:18.245995","created_date":"2025-10-10T00:00:00"}