{"id":"https://openalex.org/W2090520787","doi":"https://doi.org/10.1109/robio.2014.7090544","title":"An extended inverted pendulum model giving minimal interpretation of vertical ground reaction force while a human walks","display_name":"An extended inverted pendulum model giving minimal interpretation of vertical ground reaction force while a human walks","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2090520787","doi":"https://doi.org/10.1109/robio.2014.7090544","mag":"2090520787"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5079727582","display_name":"Hirofumi Shin","orcid":"https://orcid.org/0000-0003-0265-3710"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Hirofumi Shin","raw_affiliation_strings":["Graduate School of Information Science and Technology, Osaka University, Osaka, Japan","Graduate School of Information Science and Technology, Osaka University, 2-1 Yamada-oka, Suita, Osaka 565-0871, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science and Technology, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Information Science and Technology, Osaka University, 2-1 Yamada-oka, Suita, Osaka 565-0871, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091642144","display_name":"Shuhei Ikemoto","orcid":"https://orcid.org/0000-0003-4885-8746"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shuhei Ikemoto","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan","Graduate School of Engineering Science, Osaka University 1\u20133 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University 1\u20133 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072232488","display_name":"Koh Hosoda","orcid":"https://orcid.org/0000-0001-8392-1021"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koh Hosoda","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, Osaka, Japan","Graduate School of Engineering Science, Osaka University 1\u20133 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University 1\u20133 Machikaneyama, Toyonaka, Osaka, 560-8531 Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5079727582"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.12735583,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":null,"first_page":"1487","last_page":"1492"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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":0.9983999729156494,"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/T11018","display_name":"Lower Extremity Biomechanics and Pathologies","score":0.9810000061988831,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.979200005531311,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.8194069862365723},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6344475746154785},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5662016868591309},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.4803558588027954},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4740276634693146},{"id":"https://openalex.org/keywords/biomechanics","display_name":"Biomechanics","score":0.46763256192207336},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.4255565106868744},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3368370234966278},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.33544671535491943},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.26931583881378174},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.19532638788223267},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.15054336190223694}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8194069862365723},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6344475746154785},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5662016868591309},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.4803558588027954},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4740276634693146},{"id":"https://openalex.org/C170700871","wikidata":"https://www.wikidata.org/wiki/Q193378","display_name":"Biomechanics","level":2,"score":0.46763256192207336},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.4255565106868744},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3368370234966278},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.33544671535491943},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.26931583881378174},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.19532638788223267},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.15054336190223694},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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":1,"locations":[{"id":"doi:10.1109/robio.2014.7090544","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090544","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1874450194","https://openalex.org/W1987279074","https://openalex.org/W2009317155","https://openalex.org/W2036484113","https://openalex.org/W2093937828","https://openalex.org/W2120302055","https://openalex.org/W2146892096","https://openalex.org/W2479798338","https://openalex.org/W4292492493","https://openalex.org/W6639175280"],"related_works":["https://openalex.org/W2612646280","https://openalex.org/W1963494060","https://openalex.org/W1544534375","https://openalex.org/W2366496871","https://openalex.org/W2669735925","https://openalex.org/W2149145472","https://openalex.org/W2077649109","https://openalex.org/W3090237748","https://openalex.org/W3216306759","https://openalex.org/W1977487254"],"abstract_inverted_index":{"Vertical":[0],"ground":[1],"reaction":[2],"force(vGRF)":[3],"has":[4],"been":[5,45,87],"widely":[6],"known":[7,98],"as":[8,89],"a":[9,16,22,143,176],"qualitative":[10],"features":[11],"of":[12,51,63,82,91,102,105,114,128,168,178,196,207],"human":[13,17,106,148],"walking.":[14],"While":[15],"walks,":[18],"the":[19,33,37,49,55,59,64,77,80,83,92,100,111,115,126,136,152,164,179,182,185,192,204,208],"vGRF":[20,65,169,197],"exhibits":[21],"double":[23,60,165,172,193],"peak":[24,61,166,194],"profile":[25,62,167,195],"in":[26,48,79,125,201],"which":[27,58,161],"two":[28],"maximal":[29],"values":[30],"appear":[31],"from":[32],"heel":[34],"contact":[35],"to":[36,53,135],"toe":[38],"off.":[39],"So":[40],"far,":[41],"various":[42],"studies":[43],"have":[44,86],"mainly":[46],"conducted":[47],"field":[50],"biomechanics":[52],"elucidate":[54],"mechanism":[56],"by":[57,170,181],"can":[66,162,198],"be":[67,199],"generated.":[68],"In":[69,138],"these":[70],"researches,":[71],"inverted":[72,116,153,209],"pendulum":[73,117,154,210],"models":[74],"that":[75,99,191],"allow":[76],"change":[78],"length":[81,122,127,160],"support":[84,120,158,173,214],"leg":[85,121,159,215],"considered":[88],"one":[90],"minimal":[93,145],"models.":[94],"It":[95],"is,":[96],"however,":[97],"center":[101],"mass(COM)":[103],"trajectory":[104,113,206],"waling":[107],"coincides":[108],"well":[109],"with":[110,118,156,203,212],"COM":[112,205],"constant":[119],"because":[123],"changes":[124],"legs":[129],"during":[130],"walking":[131,149],"is":[132],"small":[133],"compared":[134],"length.":[137,216],"this":[139],"research,":[140],"we":[141],"propose":[142],"new":[144],"model":[146,155,187,211],"for":[147],"based":[150],"on":[151],"fixed":[157,213],"interpret":[163],"considering":[171],"phase.":[174],"As":[175],"result":[177],"verification":[180],"numerical":[183],"simulation,":[184],"proposed":[186],"was":[188],"successfully":[189],"confirmed":[190],"reproduced":[200],"accordance":[202]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}