{"id":"https://openalex.org/W4408283487","doi":"https://doi.org/10.1002/aisy.202400467","title":"Design and Control of Dual\u2010Body Negative Pressure Ground\u2010Wall Transition Robot","display_name":"Design and Control of Dual\u2010Body Negative Pressure Ground\u2010Wall Transition Robot","publication_year":2025,"publication_date":"2025-03-08","ids":{"openalex":"https://openalex.org/W4408283487","doi":"https://doi.org/10.1002/aisy.202400467"},"language":"en","primary_location":{"id":"doi:10.1002/aisy.202400467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400467","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400467","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071346045","display_name":"Huan Shen","orcid":"https://orcid.org/0000-0003-0549-6087"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Shen","raw_affiliation_strings":["Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038294926","display_name":"Kai Cao","orcid":"https://orcid.org/0009-0003-4707-4402"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Cao","raw_affiliation_strings":["Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114585424","display_name":"Jiajun Xu","orcid":"https://orcid.org/0009-0003-6764-9461"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiajun Xu","raw_affiliation_strings":["Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062751410","display_name":"Wenjun Yan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210153482","display_name":"Changzhou University","ror":"https://ror.org/04ymgwq66","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210153482"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjun Yan","raw_affiliation_strings":["College of Information Science and Engineering Changzhou University  Changzhou Jiangsu 213164 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Engineering Changzhou University  Changzhou Jiangsu 213164 China","institution_ids":["https://openalex.org/I4210153482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117791067","display_name":"Xuefei Liu","orcid":"https://orcid.org/0000-0002-0193-6893"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefei Liu","raw_affiliation_strings":["Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100331986","display_name":"Huan Wang","orcid":"https://orcid.org/0000-0001-8877-6097"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huan Wang","raw_affiliation_strings":["School of Electrical Engineering Southeast University  Nanjing Jiangsu 210096 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering Southeast University  Nanjing Jiangsu 210096 China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100642147","display_name":"Youfu Li","orcid":"https://orcid.org/0000-0002-5227-1326"},"institutions":[{"id":"https://openalex.org/I168719708","display_name":"City University of Hong Kong","ror":"https://ror.org/03q8dnn23","country_code":"HK","type":"education","lineage":["https://openalex.org/I168719708"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Youfu Li","raw_affiliation_strings":["Department of Mechanical Engineering City University of Hong Kong  Hong Kong, SAR 999077 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering City University of Hong Kong  Hong Kong, SAR 999077 China","institution_ids":["https://openalex.org/I168719708"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072119017","display_name":"Linsen Xu","orcid":"https://orcid.org/0000-0001-6951-5633"},"institutions":[{"id":"https://openalex.org/I163340411","display_name":"Hohai University","ror":"https://ror.org/01wd4xt90","country_code":"CN","type":"education","lineage":["https://openalex.org/I163340411"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Linsen Xu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering Hohai University  Changzhou 213022 China"],"raw_orcid":"https://orcid.org/0000-0001-6951-5633","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering Hohai University  Changzhou 213022 China","institution_ids":["https://openalex.org/I163340411"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023252493","display_name":"Aihong Ji","orcid":"https://orcid.org/0000-0002-1905-0564"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Aihong Ji","raw_affiliation_strings":["Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China"],"raw_orcid":"https://orcid.org/0000-0002-1905-0564","affiliations":[{"raw_affiliation_string":"Jiangsu Key Laboratory of Bionic Materials and Equipment Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"Lab of Locomotion Bioinspiration and Intelligent Robots The College of Mechanical and Electrical Engineering Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]},{"raw_affiliation_string":"State Key Laboratory of Mechanics and Control for Aerospace Structures Nanjing University of Aeronautics and Astronautics  Nanjing 210016 China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5023252493","https://openalex.org/A5072119017"],"corresponding_institution_ids":["https://openalex.org/I163340411","https://openalex.org/I9842412"],"apc_list":{"value":3190,"currency":"USD","value_usd":3190},"apc_paid":{"value":3190,"currency":"USD","value_usd":3190},"fwci":1.0205,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.71278203,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"7","issue":"4","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9861000180244446,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9861000180244446,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9700000286102295,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11701","display_name":"Space Satellite Systems and Control","score":0.9627000093460083,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/dual","display_name":"Dual (grammatical number)","score":0.6816131472587585},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6074659824371338},{"id":"https://openalex.org/keywords/transition","display_name":"Transition (genetics)","score":0.5260845422744751},{"id":"https://openalex.org/keywords/ground-pressure","display_name":"Ground pressure","score":0.4952503740787506},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4556967318058014},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.30641722679138184},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2636066675186157},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16621270775794983},{"id":"https://openalex.org/keywords/chemistry","display_name":"Chemistry","score":0.15459933876991272},{"id":"https://openalex.org/keywords/geotechnical-engineering","display_name":"Geotechnical engineering","score":0.13004830479621887},{"id":"https://openalex.org/keywords/art","display_name":"Art","score":0.08183807134628296}],"concepts":[{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.6816131472587585},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6074659824371338},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.5260845422744751},{"id":"https://openalex.org/C186096623","wikidata":"https://www.wikidata.org/wiki/Q5610964","display_name":"Ground pressure","level":2,"score":0.4952503740787506},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4556967318058014},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.30641722679138184},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2636066675186157},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16621270775794983},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.15459933876991272},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.13004830479621887},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.08183807134628296},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1002/aisy.202400467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400467","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ee6b0d85ed9743e98b87bfb12760dd96","is_oa":true,"landing_page_url":"https://doaj.org/article/ee6b0d85ed9743e98b87bfb12760dd96","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Advanced Intelligent Systems, Vol 7, Iss 4, Pp n/a-n/a (2025)","raw_type":"article"},{"id":"pmh:oai:pure.atira.dk:publications/29edefab-b8e8-41bc-b795-45e3cfd9fcf8","is_oa":true,"landing_page_url":"https://hdl.handle.net/2031/29edefab-b8e8-41bc-b795-45e3cfd9fcf8","pdf_url":null,"source":{"id":"https://openalex.org/S7407055387","display_name":"CityU Scholars","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Shen, H, Cao, K, Xu, J, Yan, W, Liu, X, Wang, H, Li, Y, Xu, L & Ji, A 2025, 'Design and Control of Dual-Body Negative Pressure Ground-Wall Transition Robot', Advanced Intelligent Systems, vol. 7, no. 4, 2400467. https://doi.org/10.1002/aisy.202400467","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"doi:10.1002/aisy.202400467","is_oa":true,"landing_page_url":"https://doi.org/10.1002/aisy.202400467","pdf_url":"https://onlinelibrary.wiley.com/doi/pdfdirect/10.1002/aisy.202400467","source":{"id":"https://openalex.org/S4210212817","display_name":"Advanced Intelligent Systems","issn_l":"2640-4567","issn":["2640-4567"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Intelligent Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1865806444","display_name":null,"funder_award_id":"52075248","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2713726797","display_name":null,"funder_award_id":"52205018","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5045001432","display_name":null,"funder_award_id":"1005\u2010ZAG23011","funder_id":"https://openalex.org/F4320336732","funder_display_name":"Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission"},{"id":"https://openalex.org/G5436223220","display_name":null,"funder_award_id":"2024ZB421","funder_id":"https://openalex.org/F4320326180","funder_display_name":"Jiangsu Postdoctoral Research Foundation"},{"id":"https://openalex.org/G5586947965","display_name":null,"funder_award_id":"52405317","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8883849581","display_name":null,"funder_award_id":"BK20241407","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G8931485793","display_name":null,"funder_award_id":"KYCX24_0563","funder_id":"https://openalex.org/F4320335769","funder_display_name":"Graduate Research and Innovation Projects of Jiangsu Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320326180","display_name":"Jiangsu Postdoctoral Research Foundation","ror":null},{"id":"https://openalex.org/F4320335769","display_name":"Graduate Research and Innovation Projects of Jiangsu Province","ror":null},{"id":"https://openalex.org/F4320336732","display_name":"Key Laboratory of Intelligent Perception and Advanced Control of State Ethnic Affairs Commission","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4408283487.pdf"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W867934529","https://openalex.org/W1668250455","https://openalex.org/W1890060438","https://openalex.org/W1953078217","https://openalex.org/W1998227924","https://openalex.org/W2057191556","https://openalex.org/W2059753124","https://openalex.org/W2079623378","https://openalex.org/W2083365813","https://openalex.org/W2461072824","https://openalex.org/W2480806076","https://openalex.org/W2514236495","https://openalex.org/W2792441069","https://openalex.org/W2809534098","https://openalex.org/W2891714597","https://openalex.org/W2919862852","https://openalex.org/W2994731597","https://openalex.org/W3048066643","https://openalex.org/W3112407809","https://openalex.org/W3119443761","https://openalex.org/W4282833230","https://openalex.org/W4316690355","https://openalex.org/W4404487233"],"related_works":["https://openalex.org/W2317351040","https://openalex.org/W8302103","https://openalex.org/W2952466936","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W4236344264","https://openalex.org/W3046201198","https://openalex.org/W4293061921","https://openalex.org/W3171631314","https://openalex.org/W2674584172"],"abstract_inverted_index":{"This":[0,176],"article":[1],"presents":[2],"a":[3,35,119,128,138],"novel":[4],"dual\u2010body":[5,194],"negative\u2010pressure":[6,72],"ground\u2010wall":[7],"transition":[8,30,48],"robot":[9,74],"(DNPTR)":[10],"aimed":[11],"at":[12],"expanding":[13],"the":[14,22,46,51,59,70,79,94,148,153,186],"application":[15],"scenarios":[16],"of":[17,25,38,50,69,86,152,179,188],"climbing":[18,73,87,195],"robots":[19],"to":[20],"meet":[21],"functional":[23],"requirements":[24],"obstacle":[26],"traversal":[27],"and":[28,41,55,66,81,105,159,169],"wall":[29,47],"in":[31],"high\u2010altitude":[32],"operations.":[33],"As":[34],"typical":[36],"representative":[37],"highly":[39],"nonlinear":[40],"multivariable":[42],"strongly":[43],"coupled":[44],"systems,":[45],"actions":[49],"DNPTR":[52,95],"are":[53,75],"analyzed":[54],"planned":[56],"based":[57,117],"on":[58,118],"mechanical":[60],"structure":[61],"characteristics.":[62],"Subsequently,":[63],"unified":[64],"kinematic":[65],"dynamic":[67],"models":[68],"bipedal":[71],"established.":[76],"To":[77],"improve":[78],"automation":[80],"ensure":[82],"safe,":[83],"efficient":[84],"operation":[85],"robots,":[88],"effective":[89],"trajectory":[90,113,174],"tracking":[91,114],"control":[92,115,143],"for":[93,185,193],"is":[96,155,178],"crucial.":[97],"Addressing":[98],"challenges":[99],"such":[100],"as":[101],"model":[102],"parameter":[103],"uncertainties":[104],"external":[106],"disturbances,":[107],"this":[108,164],"study":[109],"proposes":[110],"an":[111,132],"adaptive":[112],"method":[116,126],"radial":[120],"basis":[121],"function":[122],"neural":[123],"network.":[124],"The":[125],"integrates":[127],"boundary":[129],"layer":[130],"with":[131],"improved":[133],"exponential":[134],"reaching":[135],"law,":[136],"forming":[137],"non\u2010singular":[139],"terminal":[140],"sliding":[141],"mode":[142],"strategy.":[144],"Using":[145],"Lyapunov":[146],"theory,":[147],"global":[149],"asymptotic":[150],"stability":[151],"system":[154],"verified.":[156],"Both":[157],"simulation":[158],"experimental":[160],"results":[161],"demonstrate":[162],"that":[163],"approach":[165],"achieves":[166],"faster":[167],"convergence":[168],"effectively":[170],"suppresses":[171],"oscillations":[172],"during":[173],"tracking.":[175],"research":[177],"practical":[180],"importance,":[181],"offering":[182],"valuable":[183],"guidance":[184],"design":[187],"high\u2010accuracy,":[189],"robust":[190],"trajectory\u2010tracking":[191],"controllers":[192],"robots.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
