{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,26]],"date-time":"2024-07-26T20:32:22Z","timestamp":1722025942316},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2015,9,4]],"date-time":"2015-09-04T00:00:00Z","timestamp":1441324800000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this article, a two-dimensional analysis of biped robot sliding dynamics is performed. First, the dynamics of a biped robot based on feet-slip are derived using the coulomb friction model. The state transition can be formulated in the centroid acceleration space whose diagram is defined as a \u201ctriangle of sliding friction\u201d (TSF). The TSF's characteristics are explained by focusing on comparison with the cone of friction which has a similar state decision diagram. Next, for the behavioral simulation of a concrete model, a 2-DOF biped robot is used to analyze the sliding features in terms of the asymmetry of the dynamics of each leg. Finally, the sliding characteristics are applied to the two tasks of running and somersaulting. The results show the robot takes short rapid repetitive steps for running based on frictional asymmetry and theoretically based on torque asymmetry can make one revolution using the large angular momentum acquired during sliding motion.<\/jats:p>","DOI":"10.1017\/s0263574715000740","type":"journal-article","created":{"date-parts":[[2015,9,4]],"date-time":"2015-09-04T06:11:40Z","timestamp":1441347100000},"page":"636-653","source":"Crossref","is-referenced-by-count":9,"title":["Analysis of sliding behavior of a biped robot in centroid acceleration space"],"prefix":"10.1017","volume":"35","author":[{"given":"Taku","family":"Senoo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Masatoshi","family":"Ishikawa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,9,4]]},"reference":[{"key":"S0263574715000740_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s11071-013-0918-4"},{"key":"S0263574715000740_ref12","doi-asserted-by":"publisher","DOI":"10.20965\/jrm.2006.p0521"},{"key":"S0263574715000740_ref18","first-page":"41","volume-title":"The Physics of Hockey","author":"Hache","year":"2003"},{"key":"S0263574715000740_ref8","doi-asserted-by":"crossref","unstructured":"M. Koeda , Y. Uda , S. Sugiyama and T. Yoshikawa , \u201cShuffle Turn and Translation of Humanoid Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2011) pp. 593\u2013598.","DOI":"10.1109\/ICRA.2011.5979602"},{"key":"S0263574715000740_ref11","doi-asserted-by":"crossref","unstructured":"M. Higashimori , M. Harada , M. Yuya , I. Ishii and M. Kaneko , \u201cDimensional Analysis Based Design on Tracing Type Legged Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2005) pp. 181\u2013187.","DOI":"10.1109\/ROBOT.2005.1570689"},{"key":"S0263574715000740_ref4","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004955"},{"key":"S0263574715000740_ref14","doi-asserted-by":"crossref","unstructured":"B. Gamus and Y. Or , \u201cAnalysis of Dynamic Bipedal Robot Walking with Stick-Slip Transitions,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2013) pp. 3348\u20133355.","DOI":"10.1109\/ICRA.2013.6631044"},{"key":"S0263574715000740_ref20","unstructured":"Ishikawa Watanabe Laboratory, \u201cSlip running using frictional asymmetry,\u201d Accessed on 24 April 2015, http:\/\/www.k2.t.u-tokyo.ac.jp\/fusion\/AsymmetricFriction\/"},{"key":"S0263574715000740_ref1","unstructured":"T. Shibata , K. Sato , T. Takeshita , M. Iwase and S. Hatakeyama , \u201cStudy of Skating Robot,\u201d Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2008) pp. 1158\u20131163."},{"key":"S0263574715000740_ref9","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2316007"},{"key":"S0263574715000740_ref10","unstructured":"K. Kaneko , F. Kanehiro , S. Kajita , M. Morisawa , K. Fujiwara , K. Harada and H. Hirukawa , \u201cSlip Observer for Walking on a Low Friction Floor,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2005) pp. 634\u2013640."},{"key":"S0263574715000740_ref2","doi-asserted-by":"crossref","unstructured":"N. Ziv , Y. Lee and G. Ciaravella , \u201cInline Skating Motion Generator with Passive Wheels for Small Size Humanoid Robots,\u201d Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2010) pp. 1391\u20131395.","DOI":"10.1109\/AIM.2010.5695889"},{"key":"S0263574715000740_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.917003"},{"key":"S0263574715000740_ref16","doi-asserted-by":"crossref","unstructured":"T. Senoo and M. Ishikawa , \u201cTwo-Dimensional Analysis of Dynamic Biped Locomotion Based on Feet Slip,\u201d Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (2013) pp. 512\u2013517.","DOI":"10.1109\/AIM.2013.6584143"},{"key":"S0263574715000740_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2257574"},{"key":"S0263574715000740_ref17","first-page":"1","article-title":"A biomechanical model of speed skating","volume":"6","author":"Ingen Schenau","year":"1980","journal-title":"J. Human Mov. Stud."},{"key":"S0263574715000740_ref5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9329-0"},{"key":"S0263574715000740_ref7","doi-asserted-by":"crossref","unstructured":"K. Hashimoto , Y. Yoshimura , H. Kondo , H. Lim and A. Takanishi , \u201cRealization of Quick Turn of Biped Humanoid Robot by Using Slipping Motion with Both Feet,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2011) pp. 2041\u20132046.","DOI":"10.1109\/ICRA.2011.5980498"},{"key":"S0263574715000740_ref21","unstructured":"Ishikawa Watanabe Laboratory, \u201cSliding somersault using torque asymmetry,\u201d Accessed on 24 April 2015, http:\/\/www.k2.t.u-tokyo.ac.jp\/fusion\/SlidingSomersault\/"},{"key":"S0263574715000740_ref3","unstructured":"B. Nemec and L. Lahajnar , \u201cControl and Navigation of the Skiing Robot,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2009) pp. 2321\u20132326."},{"key":"S0263574715000740_ref19","unstructured":"T. Senoo , M. Takano and M. Ishikawa , \u201cDynamic Horizontal Movement of a Bipedal Robot Using Frictional Asymmetry,\u201d Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (2012) pp. 1834\u20131839."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574715000740","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,18]],"date-time":"2019-04-18T02:35:19Z","timestamp":1555554919000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574715000740\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,9,4]]},"references-count":21,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2017,3]]}},"alternative-id":["S0263574715000740"],"URL":"https:\/\/doi.org\/10.1017\/s0263574715000740","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,9,4]]}}}