{"id":"https://openalex.org/W3171400515","doi":"https://doi.org/10.1109/indin45582.2020.9442225","title":"Hybrid Dual-mode Gait Planning of Wearable Extra Robotic Legs based on Multi-level Inverted Pendulum Model","display_name":"Hybrid Dual-mode Gait Planning of Wearable Extra Robotic Legs based on Multi-level Inverted Pendulum Model","publication_year":2020,"publication_date":"2020-07-20","ids":{"openalex":"https://openalex.org/W3171400515","doi":"https://doi.org/10.1109/indin45582.2020.9442225","mag":"3171400515"},"language":"en","primary_location":{"id":"doi:10.1109/indin45582.2020.9442225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin45582.2020.9442225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 18th International Conference on Industrial Informatics (INDIN)","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/A5102003771","display_name":"Huibin Li","orcid":"https://orcid.org/0000-0001-9980-0152"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui-Bin Li","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046289333","display_name":"Xiaorong Guan","orcid":"https://orcid.org/0000-0001-5493-3699"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiao-Rong Guan","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100428659","display_name":"Zhong Li","orcid":"https://orcid.org/0000-0003-1711-2992"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Li","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100421251","display_name":"Yang Li","orcid":"https://orcid.org/0000-0001-5260-5157"},"institutions":[{"id":"https://openalex.org/I82760581","display_name":"Taizhou University","ror":"https://ror.org/04fzhyx73","country_code":"CN","type":"education","lineage":["https://openalex.org/I82760581"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Li","raw_affiliation_strings":["School of Shipping and Mechatronic Engineering, Taizhou University, Taizhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Shipping and Mechatronic Engineering, Taizhou University, Taizhou, China","institution_ids":["https://openalex.org/I82760581"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101981927","display_name":"Yifan Shi","orcid":"https://orcid.org/0000-0001-5143-9679"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi-fan Shi","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045214230","display_name":"Zheng Wang","orcid":"https://orcid.org/0000-0002-7726-0770"},"institutions":[{"id":"https://openalex.org/I36399199","display_name":"Nanjing University of Science and Technology","ror":"https://ror.org/00xp9wg62","country_code":"CN","type":"education","lineage":["https://openalex.org/I36399199"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Wang","raw_affiliation_strings":["School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China","institution_ids":["https://openalex.org/I36399199"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":null,"first_page":"687","last_page":"694"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9840999841690063,"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/inverted-pendulum","display_name":"Inverted pendulum","score":0.7121831178665161},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.57635498046875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5637373328208923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5369853973388672},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5227810740470886},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.4890938401222229},{"id":"https://openalex.org/keywords/wearable-computer","display_name":"Wearable computer","score":0.4865957498550415},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4452018737792969},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.43197423219680786},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.4199727177619934},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4183761775493622},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4139115810394287},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3122069835662842},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.28885582089424133},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.286226749420166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12423363327980042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10380309820175171},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09029966592788696},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08740034699440002}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7121831178665161},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.57635498046875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5637373328208923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5369853973388672},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5227810740470886},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.4890938401222229},{"id":"https://openalex.org/C150594956","wikidata":"https://www.wikidata.org/wiki/Q1334829","display_name":"Wearable computer","level":2,"score":0.4865957498550415},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4452018737792969},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.43197423219680786},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.4199727177619934},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4183761775493622},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4139115810394287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3122069835662842},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.28885582089424133},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.286226749420166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12423363327980042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10380309820175171},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09029966592788696},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08740034699440002},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","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},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/indin45582.2020.9442225","is_oa":false,"landing_page_url":"https://doi.org/10.1109/indin45582.2020.9442225","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE 18th International Conference on Industrial Informatics (INDIN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6899999976158142}],"awards":[{"id":"https://openalex.org/G2644659294","display_name":null,"funder_award_id":"1916315ZT00500502","funder_id":"https://openalex.org/F4320325437","funder_display_name":"Jiangsu Science and Technology Department"},{"id":"https://openalex.org/G45208767","display_name":null,"funder_award_id":"301\u2013090305","funder_id":"https://openalex.org/F4320309750","funder_display_name":"Japan Association for the Advancement of Medical Equipment"}],"funders":[{"id":"https://openalex.org/F4320309750","display_name":"Japan Association for the Advancement of Medical Equipment","ror":"https://ror.org/05tvqac82"},{"id":"https://openalex.org/F4320325437","display_name":"Jiangsu Science and Technology Department","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1514128053","https://openalex.org/W1551919560","https://openalex.org/W1995866955","https://openalex.org/W2087177988","https://openalex.org/W2091149994","https://openalex.org/W2143717973","https://openalex.org/W2144651583","https://openalex.org/W2151743976","https://openalex.org/W2792891093","https://openalex.org/W2798354610","https://openalex.org/W6633098053"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W1562157883","https://openalex.org/W4289540027","https://openalex.org/W2904734435"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2,31,56,108,113,131,145,181,190,204,227,285],"written":[3],"according":[4,134],"to":[5,65,135,193,225,228,234],"the":[6,37,41,47,53,57,61,68,77,81,105,121,126,136,140,149,154,158,162,169,174,178,187,195,199,207,213,241,246,262,266,276,291,296,299,304,308],"wearable":[7],"extra":[8],"robotic":[9,26,42,58,106,127,159,263,305],"legs":[10,43,59,107,160,264,306,310],"named":[11],"Extra":[12],"Assistant":[13],"Robotic":[14],"Legs":[15],"(EARL).":[16],"The":[17,28,110,129,142,164,201,209,219,279],"EARL":[18,170,267],"consists":[19],"of":[20,60,79,94,104,120,125,139,168,198,222,245,251,265,290,298],"one":[21],"upper":[22,29,38],"base":[23,30],"and":[24,40,83,87,100,117,123,177,243,271,307],"two":[25],"legs.":[27,128],"worn":[32],"through":[33],"a":[34,91,118,260,288],"backpack":[35],"around":[36,46],"body":[39,70],"are":[44,171,216],"distributed":[45],"lower":[48],"body.":[49],"In":[50,63,259],"this":[51],"paper,":[52],"research":[54],"subject":[55],"EARL.":[62,141,200,247],"order":[64],"ensure":[66,240],"that":[67],"human":[69],"can":[71,239,268],"have":[72],"better":[73],"movements":[74,103],"matching":[75],"under":[76],"state":[78],"wearing":[80],"EARL,":[82],"realize":[84],"efficient,":[85],"flexible":[86],"stable":[88,272],"coordinated":[89],"movements,":[90],"planning":[92,112,283,293],"algorithm":[93,130,284],"hybrid":[95,280],"dual-mode":[96,281],"gait":[97,111,179,257,282,292],"includes":[98],"walking":[99],"running":[101],"for":[102,230],"proposed.":[109],"an":[114,184,231],"important":[115],"means":[116],"foundation":[119],"development":[122],"design":[124],"set":[132,191],"up":[133,192],"dynamic":[137,143],"model":[138,144],"established":[146],"by":[147,173,183,206,274],"using":[148],"multi-level":[150],"inverted":[151],"pendulum":[152],"with":[153],"joint":[155,166],"deformation":[156],"when":[157],"hit":[161],"ground.":[163],"desired":[165],"trajectories":[167,215],"planned":[172,214,277],"piecewise":[175],"function":[176],"cycle":[180],"determined":[182],"experiment.":[185],"Ultimately":[186],"prototype":[188],"simulation":[189,210],"verify":[194],"tracking":[196,275],"performance":[197],"proposed":[202],"validity":[203],"ensured":[205],"simulation.":[208],"results":[211],"show":[212],"continuous":[217],"curves.":[218],"angular":[220],"velocity":[221],"joints":[223],"minus":[224],"0":[226],"call":[229],"end":[232],"or":[233],"start":[235],"another":[236],"cycle.":[237],"It":[238],"continuity":[242],"stability":[244],"6":[248,255],"sudden":[249],"changes":[250],"each":[252],"figure":[253],"represent":[254],"selected":[256],"phases.":[258],"word,":[261],"achieve":[269],"efficient":[270],"moving":[273],"trajectories.":[278],"not":[286],"only":[287],"supplement":[289],"theory,":[294],"but":[295],"improvement":[297],"cooperative":[300],"control":[301],"strategy":[302],"between":[303],"wearer's":[309],"as":[311],"well.":[312],"(Abstract)":[313]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
