{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,5,18]],"date-time":"2022-05-18T04:28:26Z","timestamp":1652848106195},"reference-count":13,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2011,4,11]],"date-time":"2011-04-11T00:00:00Z","timestamp":1302480000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper proposes a novel shuffle turning method for a humanoid robot that controls the load distribution of the soles of the robot's feet. Turning motions of a humanoid robot are conventionally performed through a repeated foot stepping motion. However, this motion is inefficient and time-consuming. In our method, the feet are slid along the floor without a stepping movement. In order to reduce the friction with the floor and to achieve the correct shuffle turning motion, a non-uniform load distribution of the soles is controlled. Experiments using a humanoid robot were conducted on two floors with differing friction amounts, and the validity of the proposed method was verified.<\/jats:p>","DOI":"10.1017\/s0263574711000269","type":"journal-article","created":{"date-parts":[[2012,12,3]],"date-time":"2012-12-03T16:32:23Z","timestamp":1354552343000},"page":"1017-1024","source":"Crossref","is-referenced-by-count":3,"title":["Shuffle turning in humanoid robots through load distribution control of the soles"],"prefix":"10.1017","volume":"29","author":[{"given":"Masanao","family":"Koeda","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Toshitatsu","family":"Ito","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tsuneo","family":"Yoshikawa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,4,11]]},"reference":[{"key":"S0263574711000269_ref12","unstructured":"12. Kajita S. , Kaneko K. , Harada K. , Kanehiro F. , Fujiwara K. and Hirukawa H. , \u201cBiped Walking On a Low Friction Floor,\u201d Proceedings of 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2004) pp. 3546\u20133552."},{"key":"S0263574711000269_ref10","unstructured":"10. Park J. H. and Kwon O. , \u201cReflex Control of Biped Robot Locomotion on a Slippery Surface,\u201d Proceedings of IEEE International Conference on Robotics and Automation (2001) pp. 4134\u20134139."},{"key":"S0263574711000269_ref9","unstructured":"9. Hashimoto K. , Yoshimura Y. , Kondo H. , Lim H. and Takanishi A. , \u201cResearch on Biped Humanoid Robot as a Human Motion Simulator \u2013 11th Report: Realization of Quick Turn by Using Slipping Motion with Both Feet,\u201d Proceedings of the 2010 JSME Conference on Robotics and Mechatronics, 2A20D23 (2010) (in Japanese)."},{"key":"S0263574711000269_ref8","unstructured":"8. Miura K. , Nakaoka S. , Morisawa M. , Kanehiro F. , Harada K. and Kajita S. , \u201cAnalysis on a Friction Based \u2018Twirl\u2019 for Biped Robots,\u201d Proceedings of 2010 IEEE International Conference on Robotics and Automation (2010) pp. 4249\u20134255."},{"key":"S0263574711000269_ref7","unstructured":"7. Miura K. , Nakaoka S. , Morisawa M. , Harada K. and Kajita S. , \u201cA Friction-Based \u2018Twirl\u2019 for Biped Robots,\u201d Proceedings of 8th IEEE-RAS International Conference on Humanoid Robots (2008) pp. 279\u2013284."},{"key":"S0263574711000269_ref6","unstructured":"6. Koeda M. , Yoshikawa T. and Ito T. , \u201cStability Improvement by Slip-Based Turning Motion of Humanoid Robot,\u201d CD-Rom Preprints of the 25th Annual Conference of the Robotics Society of Japan, 3H15 (2007) (in Japanese)."},{"key":"S0263574711000269_ref5","unstructured":"5. Nishikawa M. , Japanese patent application no. 2005-238407 (2005)."},{"key":"S0263574711000269_ref4","unstructured":"4. Silva F. M. and Machado J. T. , \u201cGoal-Oriented Biped Walking Based on Force Interaction Control,\u201d Proceedings of IEEE International Conference on Robotics and Automation (2001) pp. 4122\u20134127."},{"key":"S0263574711000269_ref1","unstructured":"1. Harada K. , Hattori S. , Hirakata H. , Morisawa M. , Kajita S. and Yoshida E. , \u201cMotion Planning for Walking Pattern Generation of Humanoid Robots,\u201d Proceedings of the 2007 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2007) pp. 4227\u20134233."},{"key":"S0263574711000269_ref2","unstructured":"2. Ogura Y. , Kataoka T. , Aikawa H. , Shimomura K. , Lim H. and Takanishi A. , \u201cEvaluation of Various Walking Patterns of Biped Humanoid Robot,\u201d Proceedings of the 2005 IEEE International Conference on Robotics and Automation (2005) pp. 605\u2013610."},{"key":"S0263574711000269_ref3","unstructured":"3. Nishiwaki K. , Kagami S. , Kuniyoshi Y. , Inaba M. and Inoue H. , \u201cOnline Generation of Humanoid Walking Motion based on a Fast Generation Method of Motion Pattern that Follows Desired ZMP,\u201d Proceedings of the 2002 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2002) pp. 2684\u20132689."},{"key":"S0263574711000269_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.07.002"},{"key":"S0263574711000269_ref11","unstructured":"11. Kaneko K. , Kanehiro F. , Morisawa M. , Fujiwara K. , Harada K. and Hirukawa H. , \u201cSlip Observer for Walking on a Low Friction Floor,\u201d Proceedings of 2005 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 1457\u20131463."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711000269","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,27]],"date-time":"2019-04-27T03:07:59Z","timestamp":1556334479000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711000269\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,4,11]]},"references-count":13,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2011,12]]}},"alternative-id":["S0263574711000269"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711000269","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,4,11]]}}}