{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,17]],"date-time":"2026-06-17T16:06:55Z","timestamp":1781712415993,"version":"3.54.5"},"reference-count":21,"publisher":"The Company of Biologists","license":[{"start":{"date-parts":[[2021,5,18]],"date-time":"2021-05-18T00:00:00Z","timestamp":1621296000000},"content-version":"am","delay-in-days":868,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51775011"],"award-info":[{"award-number":["51775011"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"abstract":"<jats:p>In order to achieve a high speed of skating robot based on the leg structure with passive wheels on even ground, the motion characteristics of human roller skating is studied in this paper. Utilizing three dimensional motion capture system, the linear and turning gait are analyzed to express the motion characteristics of human roller skating. According to the observation and analysis, the normal linear gait can be divided into four phases and normal turning can be divided into three phases. The spin angle between the sagittal plane and the roller skate of supporting leg is mainly generated by the external\/internal rotation of hip joint instead of ankle, and the spin angular velocity of body with one supporting leg is mainly generated by the roller angle of passive wheels. A new model named as skating inverted pendulum based on the motion and angle feature of the roller skating gait is presented, which can be used to describe the characteristics of one supporting leg. The structure of roller skates improving the stability for the roller skating and the method of the turning gait with a small radius are discussed.<\/jats:p>","DOI":"10.1242\/bio.037713","type":"journal-article","created":{"date-parts":[[2019,2,20]],"date-time":"2019-02-20T15:01:41Z","timestamp":1550674901000},"source":"Crossref","is-referenced-by-count":11,"title":["Motion characteristics of human roller skating"],"prefix":"10.1242","author":[{"given":"Jiawei","family":"Chen","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4733-393X","authenticated-orcid":false,"given":"Kun","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hanxin","family":"Ma","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering and Automation, Beihang University, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"X. 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