{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,3,22]],"date-time":"2023-03-22T08:54:51Z","timestamp":1679475291189},"reference-count":3,"publisher":"World Scientific Pub Co Pte Lt","issue":"01","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2016,3]]},"abstract":"<jats:p> We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns. <\/jats:p>","DOI":"10.1142\/s021984361650002x","type":"journal-article","created":{"date-parts":[[2016,4,1]],"date-time":"2016-04-01T08:54:12Z","timestamp":1459500852000},"page":"1650002","source":"Crossref","is-referenced-by-count":4,"title":["Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum"],"prefix":"10.1142","volume":"13","author":[{"given":"Yukitoshi Minami","family":"Shiguematsu","sequence":"first","affiliation":[{"name":"Graduate School of Science and Engineering, Waseda University, 41-304, 17 Kikui-cho, Shinjuku-ku, Tokyo 162-0044, Japan"}]},{"given":"Przemyslaw","family":"Kryczka","sequence":"additional","affiliation":[{"name":"Department of Advanced Robotics, Instituto Italiano di Technologia, via Morego 30, 16163 Genova, Italy"}]},{"given":"Kenji","family":"Hashimoto","sequence":"additional","affiliation":[{"name":"Waseda Institute for Advanced Study, Waseda University, Tokyo, Japan"}]},{"given":"Hun-Ok","family":"Lim","sequence":"additional","affiliation":[{"name":"Faculty of Engineering, Kanagawa University and Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"}]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[{"name":"Department of Modern Mechanical Engineering and Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"}]}],"member":"219","published-online":{"date-parts":[[2016,4]]},"reference":[{"key":"S021984361650002XBIB010","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-011-0918-6"},{"key":"S021984361650002XBIB013","doi-asserted-by":"publisher","DOI":"10.1109\/21.141314"},{"key":"S021984361650002XBIB014","volume-title":"Gait Analysis: Normal and Pathological Function","author":"Perry J.","year":"1992"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S021984361650002X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T13:17:52Z","timestamp":1565097472000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S021984361650002X"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,3]]},"references-count":3,"journal-issue":{"issue":"01","published-online":{"date-parts":[[2016,4]]},"published-print":{"date-parts":[[2016,3]]}},"alternative-id":["10.1142\/S021984361650002X"],"URL":"https:\/\/doi.org\/10.1142\/s021984361650002x","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,3]]}}}