{"id":"https://openalex.org/W1966087897","doi":"https://doi.org/10.1142/s0219843613500321","title":"UPWARD JUMP OF A BIPED","display_name":"UPWARD JUMP OF A BIPED","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W1966087897","doi":"https://doi.org/10.1142/s0219843613500321","mag":"1966087897"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843613500321","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843613500321","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I234216984","display_name":"Universit\u00e9 Nantes Angers Le Mans","ror":"https://ror.org/0406t3m57","country_code":"FR","type":"education","lineage":["https://openalex.org/I234216984"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"YANNICK AOUSTIN","raw_affiliation_strings":["L'UNAM, Institut de Rech\u00e9rche en Communication et Cybern\u00e9tique de Nantes, UMR CNRS 6597, Universit\u00e9 de Nantes, 1 rue de la No\u00eb, 44321 Nantes, Cedex 3, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"L'UNAM, Institut de Rech\u00e9rche en Communication et Cybern\u00e9tique de Nantes, UMR CNRS 6597, Universit\u00e9 de Nantes, 1 rue de la No\u00eb, 44321 Nantes, Cedex 3, France","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I234216984","https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107898620","display_name":"Alexander Formalskii","orcid":null},"institutions":[{"id":"https://openalex.org/I19880235","display_name":"Lomonosov Moscow State University","ror":"https://ror.org/010pmpe69","country_code":"RU","type":"education","lineage":["https://openalex.org/I19880235"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"ALEXANDER FORMALSKII","raw_affiliation_strings":["Institute of Mechanics, Moscow Lomonosov State University, 1, Michurinskii Prospect, Moscow 119192, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Mechanics, Moscow Lomonosov State University, 1, Michurinskii Prospect, Moscow 119192, Russia","institution_ids":["https://openalex.org/I19880235"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.05598968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"10","issue":"04","first_page":"1350032","last_page":"1350032"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9975000023841858,"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":0.988099992275238,"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/jumping","display_name":"Jumping","score":0.8468347787857056},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.8428254127502441},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.7879245281219482},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6212272644042969},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.49264293909072876},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4859429597854614},{"id":"https://openalex.org/keywords/long-jump","display_name":"Long jump","score":0.4812040627002716},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.44666677713394165},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4440799653530121},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4407445192337036},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4205247759819031},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1932588517665863},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1597360372543335},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.12290015816688538},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11464351415634155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10452604293823242},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.08824843168258667}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.8468347787857056},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.8428254127502441},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.7879245281219482},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6212272644042969},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.49264293909072876},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4859429597854614},{"id":"https://openalex.org/C3019707481","wikidata":"https://www.wikidata.org/wiki/Q170737","display_name":"Long jump","level":3,"score":0.4812040627002716},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.44666677713394165},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4440799653530121},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4407445192337036},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4205247759819031},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1932588517665863},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1597360372543335},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.12290015816688538},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11464351415634155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10452604293823242},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.08824843168258667},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","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/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843613500321","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843613500321","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321912","display_name":"Ministry of Education and Science of the Russian Federation","ror":"https://ror.org/00ghqgy32"},{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"},{"id":"https://openalex.org/F4320334801","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1511033328","https://openalex.org/W1989094338","https://openalex.org/W1996478304","https://openalex.org/W2034108388","https://openalex.org/W2056162637","https://openalex.org/W2058706693","https://openalex.org/W2060447361","https://openalex.org/W2061063863","https://openalex.org/W2062933515","https://openalex.org/W2118664996","https://openalex.org/W2120433173","https://openalex.org/W3025776438"],"related_works":["https://openalex.org/W3162449776","https://openalex.org/W3124676748","https://openalex.org/W2562824280","https://openalex.org/W2334192603","https://openalex.org/W1591560775","https://openalex.org/W2080674242","https://openalex.org/W2385281849","https://openalex.org/W2382466266","https://openalex.org/W2366729864","https://openalex.org/W2154920949"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"the":[3,21,29,35,42,55,71,79,90,101,117,130,133,138,159,168],"vertical":[4],"upward":[5],"jumping":[6,139],"of":[7,59,78,83,89,95,100,109,132,137,158],"a":[8,52,57,76,84,87,96],"planar":[9],"biped.":[10,102,134],"There":[11],"are":[12,114],"two":[13],"stance":[14,24,39,68],"phases":[15],"and":[16,93,120],"one":[17,33],"flight":[18,30,36,43,72],"phase":[19,25,40,44,69],"in":[20],"jump.":[22],"One":[23],"takes":[26],"place":[27],"before":[28,41],"phase,":[31],"another":[32],"after":[34],"phase.":[37],"The":[38,66,123,135,155],"is":[45,111,126,141],"decomposed":[46],"into":[47],"several":[48],"parts:":[49],"A":[50,103],"crouching,":[51],"thrust":[53],"at":[54,116],"knees,":[56],"rotation":[58],"both":[60],"feet":[61,85],"(massless)":[62],"around":[63],"their":[64],"toes.":[65,80],"second":[67],"(after":[70],"phase)":[73],"starts":[74],"with":[75,149],"touchdown":[77,88],"It":[81],"consists":[82],"rotation,":[86],"whole":[91],"soles":[92],"finally":[94],"straightening":[97],"up":[98],"movement":[99],"mathematical":[104],"model":[105],"for":[106,167],"this":[107],"kind":[108],"jump":[110,131,160],"developed.":[112],"Torques":[113],"applied":[115],"hip,":[118],"knee":[119],"ankle":[121],"joints.":[122],"control":[124],"algorithm":[125],"designed":[127],"to":[128],"ensure":[129],"synthesis":[136],"process":[140],"supported":[142],"by":[143],"simulation,":[144],"which":[145],"gives":[146],"consistent":[147],"results":[148,164],"human":[150,169],"data":[151],"from":[152,162],"biomechanical":[153],"literature.":[154],"stick":[156],"diagram":[157],"derived":[161],"simulation":[163],"seems":[165],"natural":[166],"jumping.":[170]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}