{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,4,4]],"date-time":"2024-04-04T08:22:17Z","timestamp":1712218937611},"reference-count":18,"publisher":"World Scientific Pub Co Pte Lt","issue":"04","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2016,12]]},"abstract":"<jats:p> This paper proposes an analysis of the effect of vertical motion of the center of mass (COM) during humanoid walking. The linear inverted pendulum (LIP) model is classically used to deal with humanoid balance during walking. The effects on energy consumption of the COM height remaining constant for humanoid robots, or varying like human beings are studied here. Two approaches are introduced for the comparison: the LIP which offers the great advantage of analytical solving (i.e., fast and easy calculations), and a numerical solving of the IP dynamics, which allows varying the height of the center of mass during walking. The results are compared using a sthenic criterion in a 3D dynamics simulation of the humanoid robot Romeo (Aldebaran Robotics Company) and show a consequent reduction of the robot torque solicitation when the COM oscillates vertically. <\/jats:p>","DOI":"10.1142\/s0219843616500195","type":"journal-article","created":{"date-parts":[[2016,7,7]],"date-time":"2016-07-07T07:38:47Z","timestamp":1467877127000},"page":"1650019","source":"Crossref","is-referenced-by-count":6,"title":["Effects of COM Vertical Oscillation on Joint Torques During 3D Walking of Humanoid Robots"],"prefix":"10.1142","volume":"13","author":[{"given":"Sahab","family":"Omran","sequence":"first","affiliation":[{"name":"L\u2019UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes, UMR 6597, CNRS, \u00c9cole Centrale de Nantes, Universit\u00e9 de Nantes, 1, Rue de la No\u00eb, BP 92101, 44321 Nantes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sophie","family":"Sakka","sequence":"additional","affiliation":[{"name":"L\u2019UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes, UMR 6597, CNRS, \u00c9cole Centrale de Nantes, Universit\u00e9 de Nantes, 1, Rue de la No\u00eb, BP 92101, 44321 Nantes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yannick","family":"Aoustin","sequence":"additional","affiliation":[{"name":"L\u2019UNAM, Institut de Recherche en Communications et Cybern\u00e9tique de Nantes, UMR 6597, CNRS, \u00c9cole Centrale de Nantes, Universit\u00e9 de Nantes, 1, Rue de la No\u00eb, BP 92101, 44321 Nantes, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2016,11,29]]},"reference":[{"key":"S0219843616500195BIB004","doi-asserted-by":"publisher","DOI":"10.1142\/S021984361000199X"},{"key":"S0219843616500195BIB005","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843610002155"},{"key":"S0219843616500195BIB008","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2042458"},{"key":"S0219843616500195BIB011","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2014.2299342"},{"key":"S0219843616500195BIB015","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843609001905"},{"key":"S0219843616500195BIB016","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843610002271"},{"key":"S0219843616500195BIB017","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1152\/jappl.1963.18.1.1","volume":"18","author":"Cavagna G. 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