{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T17:38:37Z","timestamp":1648575517982},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2014,7,25]],"date-time":"2014-07-25T00:00:00Z","timestamp":1406246400000},"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":[[2016,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Previous research has revealed that foot rotation of the supporting foot in a single support phase could increase walking speed. This paper presents a method for force-controlled bipeds to realize foot rotation by breaking the kinematic contact constraint between the supporting foot and the ground. An inverse dynamics controller is proposed to make the biped model controllable even when the constraint is broken. In addition, a linear inverted pendulum model is extended to make its ZMP adjustable so that the ZMP can be predefined as required. When the planned ZMP is in the toe, the kinematic contact constraint will be broken and foot rotation can be achieved. A walking simulation demonstrates the effectiveness of the proposed method.<\/jats:p>","DOI":"10.1017\/s0263574714002057","type":"journal-article","created":{"date-parts":[[2014,7,25]],"date-time":"2014-07-25T09:53:15Z","timestamp":1406281995000},"page":"1059-1070","source":"Crossref","is-referenced-by-count":0,"title":["Realization of foot rotation by breaking the kinematic contact constraint"],"prefix":"10.1017","volume":"34","author":[{"given":"Xuechao","family":"Chen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhangguo","family":"Yu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jing","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gan","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Libo","family":"Meng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junyao","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,7,25]]},"reference":[{"key":"S0263574714002057_ref10","volume-title":"Gait Analysis - Physical Medicine and Rehabilitation Board Review","author":"Cuccurullo","year":"2004"},{"key":"S0263574714002057_ref8","article-title":"Planning walking patterns for a biped robot","volume":"17","author":"Huang","year":"2001","journal-title":"IEEE Trans. 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Krupp , \u201cDesign of a Bipedal Walking Robot,\u201d Prcoeedings of SPIE (2008) pp. 69621F\u201369621F-13.","DOI":"10.1117\/12.777973"},{"key":"S0263574714002057_ref5","unstructured":"Boston Dynamics. http:\/\/www.bostondynamics.com\/robot_petman.html"},{"key":"S0263574714002057_ref17","doi-asserted-by":"crossref","unstructured":"S. Coros , P. Beaudoin and M. van de Panne , \u201cGeneralized Biped Walking Control,\u201d Proceedings of the ACM SIGGRAPH (2010).","DOI":"10.1145\/1833349.1781156"},{"key":"S0263574714002057_ref11","unstructured":"K. Nishiwaki , S. Kagami , Y. Kuniyoshi , M. Inaba and H. Inoue , \u201cToe Joints that Enhance Bipedal and Full-Body Motion of Humanoid Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2002) pp. 3105\u2013C3110."},{"key":"S0263574714002057_ref13","unstructured":"C. K. Ahn , M. C. Lee and S. J. 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