{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,4,4]],"date-time":"2022-04-04T10:05:11Z","timestamp":1649066711745},"reference-count":16,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2013,6]]},"abstract":"<jats:p>Running robots often have their center-of-mass (CoM) of the torso located on the hip, to allow for simple control schemes. However, an offset between the CoM and the hip might increase a robot's ability to recover from disturbances. In this simulation study, we investigated the effect of the CoM-location on the largest disturbance that can be corrected within one or two steps. We found that, for one-step recovery strategies, the optimal CoM-location is above the hip for a step-down disturbance and below the hip for a push disturbance. For two-step recovery strategies, we found that the performance increases for increasing offset of the CoM. An offset of the CoM-location can increase the disturbance rejection up to a factor of 10 compared to the CoM at the hip.<\/jats:p>","DOI":"10.1142\/s0219843613500047","type":"journal-article","created":{"date-parts":[[2013,6,25]],"date-time":"2013-06-25T09:02:32Z","timestamp":1372150952000},"page":"1350004","source":"Crossref","is-referenced-by-count":2,"title":["THE EFFECT OF CENTER OF MASS OFFSET ON THE DISTURBANCE REJECTION OF RUNNING ROBOTS"],"prefix":"10.1142","volume":"10","author":[{"given":"TIM P.","family":"VAN OIJEN","sequence":"first","affiliation":[{"name":"Delft Biorobotics Laboratory, Department of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"J. G. DANI\u00cbL","family":"KARSSEN","sequence":"additional","affiliation":[{"name":"Delft Biorobotics Laboratory, Department of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"MARTIJN","family":"WISSE","sequence":"additional","affiliation":[{"name":"Delft Biorobotics Laboratory, Department of Mechanical Engineering, Delft University of Technology, Mekelweg 2, 2628CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2013,7,2]]},"reference":[{"key":"rf1","doi-asserted-by":"crossref","unstructured":"M. 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