{"id":"https://openalex.org/W3207699109","doi":"https://doi.org/10.1007/978-3-030-89095-7_37","title":"The Moco-Minitaur: A Low-Cost Direct-Drive Quadruped Robot for Dynamic Locomotion","display_name":"The Moco-Minitaur: A Low-Cost Direct-Drive Quadruped Robot for Dynamic Locomotion","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3207699109","doi":"https://doi.org/10.1007/978-3-030-89095-7_37","mag":"3207699109"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-030-89095-7_37","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-89095-7_37","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","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/A5052110634","display_name":"Boyang Xing","orcid":"https://orcid.org/0000-0002-9752-0867"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Boyang Xing","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100405078","display_name":"Yufei Liu","orcid":"https://orcid.org/0000-0003-2988-8843"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yufei Liu","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023538862","display_name":"Zhirui Wang","orcid":"https://orcid.org/0000-0003-2877-0384"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhirui Wang","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070221842","display_name":"Zhenjie Liang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhenjie Liang","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028265670","display_name":"Jian\u2010xin Zhao","orcid":"https://orcid.org/0000-0002-2413-6178"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianxin Zhao","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111181163","display_name":"Bo Su","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bo Su","raw_affiliation_strings":["Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052571310","display_name":"Lei Jiang","orcid":"https://orcid.org/0000-0002-5143-9262"},"institutions":[{"id":"https://openalex.org/I168879160","display_name":"Zhejiang University of Science and Technology","ror":"https://ror.org/05mx0wr29","country_code":"CN","type":"education","lineage":["https://openalex.org/I168879160"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Jiang","raw_affiliation_strings":["College of Computer Science and Technology, Zhejiang University, Hangzhou, China","Unmanned Center, China North Vehicle Research Institute, Beijing, China"],"affiliations":[{"raw_affiliation_string":"College of Computer Science and Technology, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I168879160"]},{"raw_affiliation_string":"Unmanned Center, China North Vehicle Research Institute, Beijing, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5052110634"],"corresponding_institution_ids":[],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":1.9723,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.86230942,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"378","last_page":"389"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983000159263611,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9617999792098999,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7200472950935364},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6485611200332642},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5675850510597229},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49234282970428467},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46311843395233154},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4322410225868225},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4256705045700073},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.4197329580783844},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3512267470359802},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.28319251537323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19170719385147095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17983600497245789},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.06791278719902039}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7200472950935364},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6485611200332642},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5675850510597229},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49234282970428467},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46311843395233154},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4322410225868225},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4256705045700073},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.4197329580783844},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3512267470359802},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28319251537323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19170719385147095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17983600497245789},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.06791278719902039}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/978-3-030-89095-7_37","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-030-89095-7_37","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W2161427949","https://openalex.org/W2314684457","https://openalex.org/W2377098276","https://openalex.org/W2542974164","https://openalex.org/W2598816780","https://openalex.org/W2910586953","https://openalex.org/W2967118761","https://openalex.org/W2968213087"],"related_works":["https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}