乐胖代购免代理版

{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,31]],"date-time":"2022-03-31T05:24:41Z","timestamp":1648704281884},"reference-count":23,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2010,10,12]],"date-time":"2010-10-12T00:00:00Z","timestamp":1286841600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2011,9]]},"abstract":"SUMMARY<\/jats:title>The postural stability of bipedal robots is investigated in perspective of foot-rotation during locomotion. With foot already rotated, the biped is modeled as an underactuated kinematic structure. The stability of such biped robots is analyzed by introducing the concept ofrotational stability<\/jats:italic>. Therotational stability<\/jats:italic>investigates whether a biped would lead to a flat-foot posture or the biped would topple over. Therotational stability<\/jats:italic>is quantified as a ground reference point named \u201crotational stability index (RSI)\u201d point. Conditions are established to achieverotational stability<\/jats:italic>during biped locomotion using the concept of the RSI point. The applicability of the RSI point is illustrated through experimentation for the landing stability analysis of the bipedal jumping gaits.<\/jats:p>The traditional stability criteria such as zero-moment point (ZMP) [M. Vukobratovic and B. Borovac, \u201cZero-moment point \u2013 thirty five years of its life,\u201dInt. J. Humanoid Robot<\/jats:italic>. 1(1), 157\u2013173 (2004)] and foot-rotation indicator (FRI) [A. Goswami, \u201cPostural stability of biped robots and the foot-rotation indicator (FRI) point,\u201dInt. J. Robot. Res<\/jats:italic>. 18(6), 523\u2013533 (1999)] are not applicable to analyze biped's postural stability when foot is already rotated. The RSI point is established as a stability criteria for planar bipedal locomotion in presence of foot rotation.<\/jats:p>","DOI":"10.1017\/s0263574710000597","type":"journal-article","created":{"date-parts":[[2010,10,12]],"date-time":"2010-10-12T10:22:49Z","timestamp":1286878969000},"page":"705-715","source":"Crossref","is-referenced-by-count":1,"title":["Rotational Stability Index (RSI) point: postural stability in planar bipeds"],"prefix":"10.1017","volume":"29","author":[{"given":"Goswami","family":"Dip","sequence":"first","affiliation":[]},{"given":"Vadakkepat","family":"Prahlad","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2010,10,12]]},"reference":[{"key":"S0263574710000597_ref11","volume-title":"Nonlinear Systems","author":"Khalil","year":"2001"},{"key":"S0263574710000597_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905058363"},{"key":"S0263574710000597_ref1","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"S0263574710000597_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2026502"},{"key":"S0263574710000597_ref2","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"S0263574710000597_ref13","doi-asserted-by":"crossref","unstructured":"13. Nagasaka K. , Kuroki Y. , Suzuki S. , Itoh Y. and Yamaguchi J. , \u201cIntegrated Motion Control for Walking, Jumping and Running on a Small Bipedal Entertainment Robot,\u201d IEEE International Conference on Robotics and Automation, (Apr. 26\u2013May 1, 2004) pp. 3189\u20133194.","DOI":"10.1109\/ROBOT.2004.1308745"},{"key":"S0263574710000597_ref23","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(71)90066-5"},{"key":"S0263574710000597_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/70.782028"},{"key":"S0263574710000597_ref15","unstructured":"15. Napoleon S. N. and Sampei M. , \u201cBalance Control Analysis of Humanoid Robot Based on ZMP Feedback Control,\u201d IEEE International Conference on Intelligent Robots and System, (2002) pp. 2437\u20132442."},{"key":"S0263574710000597_ref9","volume-title":"Applied Nonlinear Control","author":"Slotine","year":"1991"},{"key":"S0263574710000597_ref12","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-83006-8"},{"key":"S0263574710000597_ref10","volume-title":"Robot Dynamic and Control","author":"Spong","year":"1989"},{"key":"S0263574710000597_ref7","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"1989"},{"key":"S0263574710000597_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2002.806653"},{"key":"S0263574710000597_ref6","unstructured":"6. Arakawa T. and Fukuda T. , \u201cNatural Motion Generation of Biped Locomotion Robot Using Hierarchical Trajectory Generation Method Consisting of GA, EP Layers,\u201d IEEE International Conference on Robotics and Automation, vol. 1, (1997) pp. 211\u2013216."},{"key":"S0263574710000597_ref16","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706003183"},{"key":"S0263574710000597_ref14","first-page":"9","article-title":"Disturbance rejection by online ZMP compensation","volume":"26","author":"Vadakkepat","year":"2007","journal-title":"Robotica"},{"key":"S0263574710000597_ref22","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1017\/S026357470800475X","article-title":"Genetic algorithm-based optimal bipedal walking gait synthesis considering tradeoff between stability margin and speed","volume":"27","author":"Goswami","year":"2009","journal-title":"Robotica"},{"key":"S0263574710000597_ref5","doi-asserted-by":"publisher","DOI":"10.1201\/9781420053739"},{"key":"S0263574710000597_ref18","doi-asserted-by":"publisher","DOI":"10.1177\/0278364905054929"},{"key":"S0263574710000597_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300207"},{"key":"S0263574710000597_ref21","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300106"},{"key":"S0263574710000597_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-84628-615-5"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574710000597","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,11,11]],"date-time":"2021-11-11T18:38:24Z","timestamp":1636655904000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574710000597\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,10,12]]},"references-count":23,"journal-issue":{"issue":"5","published-print":{"date-parts":[[2011,9]]}},"alternative-id":["S0263574710000597"],"URL":"https:\/\/doi.org\/10.1017\/s0263574710000597","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,10,12]]}}}