{"id":"https://openalex.org/W2145825090","doi":"https://doi.org/10.1109/icsmc.2004.1398398","title":"Trajectory planning for a leg swing during human walking","display_name":"Trajectory planning for a leg swing during human walking","publication_year":2005,"publication_date":"2005-04-06","ids":{"openalex":"https://openalex.org/W2145825090","doi":"https://doi.org/10.1109/icsmc.2004.1398398","mag":"2145825090"},"language":"en","primary_location":{"id":"doi:10.1109/icsmc.2004.1398398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1398398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","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/A5090067864","display_name":"M. Nakamura","orcid":"https://orcid.org/0000-0003-3069-9513"},"institutions":[{"id":"https://openalex.org/I173915773","display_name":"Yamaguchi University","ror":"https://ror.org/03cxys317","country_code":"JP","type":"education","lineage":["https://openalex.org/I173915773"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"M. Nakamura","raw_affiliation_strings":["Faculty of Science, Yamaguchi University, Yamaguchi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Yamaguchi University, Yamaguchi, Japan","institution_ids":["https://openalex.org/I173915773"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017249323","display_name":"Masahiro Mori","orcid":"https://orcid.org/0000-0001-9124-8623"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"M. Mori","raw_affiliation_strings":["Suemachi Of ce, Fukuoka, Japan"],"affiliations":[{"raw_affiliation_string":"Suemachi Of ce, Fukuoka, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057956829","display_name":"Jun Nishii","orcid":null},"institutions":[{"id":"https://openalex.org/I173915773","display_name":"Yamaguchi University","ror":"https://ror.org/03cxys317","country_code":"JP","type":"education","lineage":["https://openalex.org/I173915773"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"J. Nishii","raw_affiliation_strings":["Faculty of Science, Yamaguchi University, Yamaguchi, Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Science, Yamaguchi University, Yamaguchi, Japan","institution_ids":["https://openalex.org/I173915773"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5090067864"],"corresponding_institution_ids":["https://openalex.org/I173915773"],"apc_list":null,"apc_paid":null,"fwci":1.1641,"has_fulltext":false,"cited_by_count":30,"citation_normalized_percentile":{"value":0.79383461,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"1","issue":null,"first_page":"784","last_page":"790"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9807000160217285,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9790999889373779,"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/swing","display_name":"Swing","score":0.9753379225730896},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.8186016082763672},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.5135067105293274},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4601259231567383},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.43531137704849243},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4173700511455536},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3456175923347473},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.34195342659950256},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.32424837350845337},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20734447240829468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08825808763504028},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08745303750038147}],"concepts":[{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.9753379225730896},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8186016082763672},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.5135067105293274},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4601259231567383},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.43531137704849243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4173700511455536},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3456175923347473},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34195342659950256},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.32424837350845337},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20734447240829468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08825808763504028},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08745303750038147},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icsmc.2004.1398398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icsmc.2004.1398398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.4699999988079071,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1559393815","https://openalex.org/W1594240141","https://openalex.org/W1921027223","https://openalex.org/W1948368313","https://openalex.org/W1969329479","https://openalex.org/W1973245002","https://openalex.org/W1976418738","https://openalex.org/W1988266788","https://openalex.org/W2008230146","https://openalex.org/W2026497708","https://openalex.org/W2028909111","https://openalex.org/W2036108062","https://openalex.org/W2044737409","https://openalex.org/W2050158673","https://openalex.org/W2063866062","https://openalex.org/W2081545589","https://openalex.org/W2090373601","https://openalex.org/W2104176245","https://openalex.org/W2105595651","https://openalex.org/W2111011296","https://openalex.org/W2127733921","https://openalex.org/W2134159871","https://openalex.org/W2151130840","https://openalex.org/W2163159836","https://openalex.org/W2254393905","https://openalex.org/W2404689151","https://openalex.org/W4237200682","https://openalex.org/W4292954878"],"related_works":["https://openalex.org/W4385832323","https://openalex.org/W2356996864","https://openalex.org/W4244391535","https://openalex.org/W2015393961","https://openalex.org/W2904060783","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2139910871","https://openalex.org/W2361427670","https://openalex.org/W2886240924"],"abstract_inverted_index":{"Although":[0],"locomotor":[1],"patterns":[2],"of":[3,14,19,48,51,77,109,119,131,140,143],"many":[4],"legged":[5],"animals":[6],"have":[7],"been":[8,26],"widely":[9],"studied":[10],"from":[11],"a":[12,90,94],"viewpoint":[13],"energetic":[15,53,161],"optimality,":[16],"the":[17,20,35,46,49,52,73,82,110,120,127,149,160],"optimality":[18],"leg":[21,36,60,150],"swing":[22,37,61,78,92,151],"trajectory":[23,38,62,152],"has":[24],"not":[25],"well":[27,136],"studied.":[28],"In":[29],"this":[30],"paper,":[31],"we":[32],"examine":[33],"whether":[34],"in":[39,72,81,126],"human":[40,144],"walking":[41,114],"is":[42,100],"determined":[43],"based":[44],"on":[45],"criterion":[47],"minimization":[50],"cost":[54,162],"or":[55],"not.":[56],"The":[57,67,106,117],"computed":[58],"optimal":[59],"shows":[63],"following":[64],"characteristics.":[65],"(1)":[66],"foot":[68,111,121],"draws":[69],"an":[70],"arc":[71],"first":[74],"half":[75,84,129],"duration":[76,85,130],"phase":[79],"and":[80,98],"second":[83,128],"it":[86],"falls":[87],"down":[88],"with":[89,113,138],"forward":[91],"along":[93],"slightly":[95],"curved":[96],"line":[97],"then":[99],"drew":[101],"back":[102],"for":[103],"landing.":[104],"(2)":[105],"maximum":[107],"height":[108],"increases":[112],"speed.":[115],"(3)":[116],"speed":[118],"takes":[122],"its":[123],"peak":[124],"value":[125],"swing.":[132],"These":[133],"characteristics":[134],"were":[135],"coincident":[137],"those":[139],"experimental":[141],"data":[142],"locomotion,":[145],"which":[146],"indicates":[147],"that":[148],"would":[153],"be":[154],"planned":[155],"so":[156],"as":[157],"to":[158],"minimize":[159]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
