{"id":"https://openalex.org/W7127042575","doi":"https://doi.org/10.3103/s0027133025700311","title":"The Application of the Optimal Swinging Method for a Six-Legged Robot\u2019s Getting Out from the Upside-Down Position","display_name":"The Application of the Optimal Swinging Method for a Six-Legged Robot\u2019s Getting Out from the Upside-Down Position","publication_year":2025,"publication_date":"2025-10-01","ids":{"openalex":"https://openalex.org/W7127042575","doi":"https://doi.org/10.3103/s0027133025700311"},"language":"en","primary_location":{"id":"doi:10.3103/s0027133025700311","doi":"https://doi.org/10.3103/s0027133025700311","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0027133025700311","pdf_url":null,"source":{"id":"https://openalex.org/S89329721","display_name":"Moscow University Mechanics Bulletin","issn_l":"0027-1330","issn":["0027-1330","1934-8452"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Moscow University Mechanics Bulletin","raw_type":"journal-article"},"volume":null,"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5109182746","display_name":"Yu. F. Golubev","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]},{"id":"https://openalex.org/I19880235","display_name":"Lomonosov Moscow State University","ror":"https://ror.org/010pmpe69","country_code":"RU","type":"education","lineage":["https://openalex.org/I19880235"]},{"id":"https://openalex.org/I86427540","display_name":"Keldysh Institute of Applied Mathematics","ror":"https://ror.org/01dv3hq14","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210124601","https://openalex.org/I86427540"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"Yu. F. Golubev","raw_affiliation_strings":["Chair of Theoretical Mechanics and Mechatronics, Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow, Russia","Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Theoretical Mechanics and Mechatronics, Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow, Russia","institution_ids":["https://openalex.org/I19880235"]},{"raw_affiliation_string":"Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I86427540"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075525063","display_name":"V. V. Koryanov","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1313323035","display_name":"Russian Academy of Sciences","ror":"https://ror.org/05qrfxd25","country_code":"RU","type":"government","lineage":["https://openalex.org/I1313323035"]},{"id":"https://openalex.org/I86427540","display_name":"Keldysh Institute of Applied Mathematics","ror":"https://ror.org/01dv3hq14","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210124601","https://openalex.org/I86427540"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"V. V. Koryanov","raw_affiliation_strings":["Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Moscow, Russia","institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I86427540"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016023554","display_name":"Elena Vadimovna Melkumova","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I19880235","display_name":"Lomonosov Moscow State University","ror":"https://ror.org/010pmpe69","country_code":"RU","type":"education","lineage":["https://openalex.org/I19880235"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"E. V. Melkumova","raw_affiliation_strings":["Chair of Theoretical Mechanics and Mechatronics, Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Theoretical Mechanics and Mechatronics, Faculty of Mechanics and Mathematics, Lomonosov Moscow State University, Moscow, Russia","institution_ids":["https://openalex.org/I19880235"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5016023554","https://openalex.org/A5075525063","https://openalex.org/A5109182746"],"corresponding_institution_ids":["https://openalex.org/I1313323035","https://openalex.org/I19880235","https://openalex.org/I86427540"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32456433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"80","issue":"5","first_page":"195","last_page":"202"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0017999999690800905,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod-robot","display_name":"hexapod robot","score":0.8610000014305115},{"id":"https://openalex.org/keywords/hexapod","display_name":"hexapod","score":0.640999972820282},{"id":"https://openalex.org/keywords/optimal-control","display_name":"optimal control","score":0.718999981880188},{"id":"https://openalex.org/keywords/oscillation-amplitude","display_name":"oscillation amplitude","score":0.8339999914169312},{"id":"https://openalex.org/keywords/robot-dynamics","display_name":"robot dynamics","score":0.5730000138282776}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.8382999897003174},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7179999947547913},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.5795999765396118},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.572700023651123},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.5684000253677368},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5034000277519226},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45829999446868896},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4320000112056732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4250999987125397},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3691999912261963},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.36899998784065247},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30239999294281006},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2856000065803528},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2806999981403351},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2775999903678894},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.26179999113082886},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25189998745918274}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3103/s0027133025700311","doi":"https://doi.org/10.3103/s0027133025700311","is_oa":false,"landing_page_url":"https://doi.org/10.3103/s0027133025700311","pdf_url":null,"source":{"id":"https://openalex.org/S89329721","display_name":"Moscow University Mechanics Bulletin","issn_l":"0027-1330","issn":["0027-1330","1934-8452"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310320267","host_organization_name":"Pleiades Publishing","host_organization_lineage":["https://openalex.org/P4310320267","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Pleiades Publishing","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Moscow University Mechanics Bulletin","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"sustainable_development_goals_aurora":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, justice, and strong institutions","score":0.8293462991714478}],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1990038625","https://openalex.org/W2122989592","https://openalex.org/W2126677924","https://openalex.org/W2599452774","https://openalex.org/W3005114885","https://openalex.org/W4389285854","https://openalex.org/W4401533507","https://openalex.org/W7082624859"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"To":[1],"solve":[2],"the":[3,25,29,32,54,65,71,78,84,88],"problem":[4],"of":[5,24,31,46,56,61,70,80,83,87],"rescuing":[6],"a":[7,36,57],"multilegged":[8],"robot":[9],"from":[10],"an":[11,15,41],"emergency":[12],"upside-down":[13],"position,":[14],"original":[16],"method":[17],"is":[18,50,75],"used":[19],"to":[20,64],"find":[21],"optimal":[22],"control":[23,49,73],"oscillation":[26],"amplitude":[27],"in":[28],"vicinity":[30],"equilibrium":[33],"position":[34,55],"for":[35],"scleronomic":[37],"mechanical":[38],"system":[39],"with":[40],"underactuated":[42],"one":[43],"oscillatory":[44],"degree":[45],"freedom.":[47],"The":[48,68],"implemented":[51],"by":[52,77],"changing":[53],"specially":[58],"selected":[59],"group":[60],"legs":[62],"relative":[63],"robot\u2019s":[66],"body.":[67],"effectiveness":[69],"developed":[72],"algorithm":[74],"confirmed":[76],"results":[79],"computer":[81],"simulation":[82],"full":[85],"dynamics":[86],"robot.":[89]},"counts_by_year":[],"updated_date":"2026-09-26T08:19:03.415552","created_date":"2026-02-03T00:00:00"}