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Mendeley readers
Attention Score in Context
| Title |
Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot
|
|---|---|
| Published in |
Biological Cybernetics, March 2013
|
| DOI | 10.1007/s00422-013-0551-9 |
| Pubmed ID | |
| Authors |
Federico L. Moro, Alexander Spröwitz, Alexandre Tuleu, Massimo Vespignani, Nikos G. Tsagarakis, Auke J. Ijspeert, Darwin G. Caldwell |
| Abstract |
This manuscript proposes a method to directly transfer the features of horse walking, trotting, and galloping to a quadruped robot, with the aim of creating a much more natural (horse-like) locomotion profile. A principal component analysis on horse joint trajectories shows that walk, trot, and gallop can be described by a set of four kinematic Motion Primitives (kMPs). These kMPs are used to generate valid, stable gaits that are tested on a compliant quadruped robot. Tests on the effects of gait frequency scaling as follows: results indicate a speed optimal walking frequency around 3.4 Hz, and an optimal trotting frequency around 4 Hz. Following, a criterion to synthesize gait transitions is proposed, and the walk/trot transitions are successfully tested on the robot. The performance of the robot when the transitions are scaled in frequency is evaluated by means of roll and pitch angle phase plots. |
Mendeley readers
The data shown below were compiled from readership statistics for 103 Mendeley readers of this research output. Click here to see the associated Mendeley record.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| Austria | 2 | 2% |
| Germany | 1 | <1% |
| Turkey | 1 | <1% |
| Australia | 1 | <1% |
| Singapore | 1 | <1% |
| United States | 1 | <1% |
| Unknown | 96 | 93% |
Demographic breakdown
| Readers by professional status | Count | As % |
|---|---|---|
| Student > Ph. D. Student | 22 | 21% |
| Student > Master | 20 | 19% |
| Researcher | 17 | 17% |
| Student > Bachelor | 11 | 11% |
| Student > Doctoral Student | 7 | 7% |
| Other | 14 | 14% |
| Unknown | 12 | 12% |
| Readers by discipline | Count | As % |
|---|---|---|
| Engineering | 48 | 47% |
| Computer Science | 12 | 12% |
| Agricultural and Biological Sciences | 9 | 9% |
| Veterinary Science and Veterinary Medicine | 4 | 4% |
| Business, Management and Accounting | 3 | 3% |
| Other | 13 | 13% |
| Unknown | 14 | 14% |
Attention Score in Context
This research output has an Altmetric Attention Score of 8. This is our high-level measure of the quality and quantity of online attention that it has received. This Attention Score, as well as the ranking and number of research outputs shown below, was calculated when the research output was last mentioned on 22 May 2013.
All research outputs
#4,087,202
of 22,711,242 outputs
Outputs from Biological Cybernetics
#76
of 673 outputs
Outputs of similar age
#34,602
of 194,892 outputs
Outputs of similar age from Biological Cybernetics
#2
of 9 outputs
Altmetric has tracked 22,711,242 research outputs across all sources so far. Compared to these this one has done well and is in the 81st percentile: it's in the top 25% of all research outputs ever tracked by Altmetric.
So far Altmetric has tracked 673 research outputs from this source. They receive a mean Attention Score of 4.1. This one has done well, scoring higher than 88% of its peers.
Older research outputs will score higher simply because they've had more time to accumulate mentions. To account for age we can compare this Altmetric Attention Score to the 194,892 tracked outputs that were published within six weeks on either side of this one in any source. This one has done well, scoring higher than 82% of its contemporaries.
We're also able to compare this research output to 9 others from the same source and published within six weeks on either side of this one. This one has scored higher than 7 of them.