{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:58:26Z","timestamp":1777715906898,"version":"3.51.4"},"reference-count":28,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T00:00:00Z","timestamp":1242691200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,1]]},"abstract":"<jats:p>\n                    In this paper we describe a planar symmetric walking cancellation algorithm for generating smooth and collision-free turning motions on the foot\u2014platform locomotion interface, the Virtual Walking Machine that has two three-degree-of-freedom (DOF) planar and three-DOF footpad parallel manipulators connected in series. This solves the problem of the asymmetric walking velocity profile of the swing and stance feet in the existing constant-velocity walking cancellation method. The proposed symmetric walking cancellation method cancels the stance foot motion with the opposite swing foot motion. In addition, the proposed walking cancellation method was extended to a planar walking algorithm that uses constraint motions of curvatures to avoid mechanical collisions between the two foot platforms. Walking simulations, experiments, and user evaluations showed that the proposed symmetric walking cancellation algorithm is better than the previous constant-velocity algorithm in terms of smoothness, absence of delay, and walking stability. For planar motions, the device can generate a maximum turning angle of 20\n                    <jats:sup>\u00b0<\/jats:sup>\n                    and a maximum turning velocity of 45\n                    <jats:sup>\u00b0<\/jats:sup>\n                    per second for one step with a minimum available curvature of 1 m. Navigation experiments in a virtual environment were performed to show the effectiveness of the suggested planar walking algorithm.\n                  <\/jats:p>","DOI":"10.1177\/0278364909104293","type":"journal-article","created":{"date-parts":[[2009,5,19]],"date-time":"2009-05-19T22:09:33Z","timestamp":1242770973000},"page":"39-59","source":"Crossref","is-referenced-by-count":10,"title":["A Planar Symmetric Walking Cancellation Algorithm for a Foot\u2014Platform                 Locomotion Interface"],"prefix":"10.1177","volume":"29","author":[{"given":"Jungwon","family":"Yoon","sequence":"first","affiliation":[{"name":"School of Mechanical and Aerospace Engineering and ReCAPT, Gyeongsang                         National University, Jinju, Gyeongnam 660-701, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jangwoo","family":"Park","sequence":"additional","affiliation":[{"name":"Human-Machine-Computer Interface, Department of Mechatronics, Gwangju                         Institute of Science and Technology, Bukgu, Gwangju 500-712, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jeha","family":"Ryu","sequence":"additional","affiliation":[{"name":"Human-Machine-Computer Interface, Department of Mechatronics, Gwangju                         Institute of Science and Technology, Bukgu, Gwangju 500-712, Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,5,19]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of the International Conference on Artificial Reality and Telexistence (ICAT\u201903)","author":"Bouguila, L."},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00817.2003"},{"key":"atypb3","first-page":"213","author":"Darken, R.","year":"1997","journal-title":"Proceedings of User Interface Software Technology (UIST 97)"},{"key":"atypb4","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"De Luca, A."},{"key":"atypb5","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"De Luca, A."},{"key":"atypb6","unstructured":"Hollerbach, J.M.                  ( 2002). Locomotion interfaces. Handbook of                     Virtual Environments Technology,                      Stanney, K. M.                  (ed.).                      Lawrence Erlbaum Associates, Inc.                 , pp. 239-254."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122068209"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/s002210000533"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1109\/38.799737"},{"key":"atypb10","volume-title":"Proceedings of the Virtual Reality Annual International Symposium","author":"Iwata and Fuji"},{"key":"atypb11","volume-title":"Proceedings of IEEE Virtual Reality","author":"Iwata, H."},{"issue":"1","key":"atypb12","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1109\/MCG.2005.5","volume":"25","author":"Iwata, H.","year":"2005","journal-title":"IEEE Computer Graphics and Applications"},{"key":"atypb13","volume-title":"Workshop on New Directions in 3D User Interfaces (at IEEE VR 2005)","author":"Nagamori, A."},{"key":"atypb14","first-page":"111","volume":"64","author":"Noma, H.","year":"1998","journal-title":"ASME Dynamic Systems and Control"},{"key":"atypb15","first-page":"405","volume":"67","author":"Noma, H.","year":"1999","journal-title":"ASME Dynamic Systems and Control"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1016\/j.gaitpost.2004.12.008"},{"key":"atypb17","volume-title":"A novel planar walking algorithm and calibration technique for virtual walking machine. 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