{"id":"https://openalex.org/W2470094176","doi":"https://doi.org/10.1007/s10514-016-9573-1","title":"High-slope terrain locomotion for torque-controlled quadruped robots","display_name":"High-slope terrain locomotion for torque-controlled quadruped robots","publication_year":2016,"publication_date":"2016-05-31","ids":{"openalex":"https://openalex.org/W2470094176","doi":"https://doi.org/10.1007/s10514-016-9573-1","mag":"2470094176"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-016-9573-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-016-9573-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-01137225","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070148842","display_name":"Michele Focchi","orcid":"https://orcid.org/0000-0002-4888-5595"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Michele Focchi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea del Prete","raw_affiliation_strings":["LAAS-CNRS, Avenue du Colonel Roche 7, Toulouse, France","LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)"],"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Avenue du Colonel Roche 7, Toulouse, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"LAAS-GEPETTO - \u00c9quipe Mouvement des Syst\u00e8mes Anthropomorphes (France)","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068877998","display_name":"Ioannis Havoutis","orcid":"https://orcid.org/0000-0002-4371-4623"},"institutions":[{"id":"https://openalex.org/I4210128676","display_name":"Human Computer Interaction (Switzerland)","ror":"https://ror.org/036dv6j71","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210128676"]},{"id":"https://openalex.org/I7495430","display_name":"Idiap Research Institute","ror":"https://ror.org/05932h694","country_code":"CH","type":"facility","lineage":["https://openalex.org/I7495430"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Ioannis Havoutis","raw_affiliation_strings":["Robot Learning & Interaction Group, Idiap Research Institute, CH-1920, Martigny, Switzerland","Robot Learning & Interaction Group (CH-1920 Martigny - Switzerland)"],"affiliations":[{"raw_affiliation_string":"Robot Learning & Interaction Group, Idiap Research Institute, CH-1920, Martigny, Switzerland","institution_ids":["https://openalex.org/I7495430"]},{"raw_affiliation_string":"Robot Learning & Interaction Group (CH-1920 Martigny - Switzerland)","institution_ids":["https://openalex.org/I4210128676"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035226540","display_name":"Roy Featherstone","orcid":"https://orcid.org/0000-0002-6180-2846"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roy Featherstone","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"IIT - Istituto Italiano di Tecnologia (Via Morego, 30 16163 Genova - Italy)","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5070148842"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":7.1884,"has_fulltext":false,"cited_by_count":201,"citation_normalized_percentile":{"value":0.97563656,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"41","issue":"1","first_page":"259","last_page":"272"},"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":0.991599977016449,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9722999930381775,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7838538885116577},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7825621962547302},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7415868043899536},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6287605166435242},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5803464651107788},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.558607280254364},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5513404011726379},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5152233242988586},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5151923298835754},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5133678317070007},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.5058788657188416},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.47093668580055237},{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.4519668221473694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44895118474960327},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4120545983314514},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.383037805557251},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34129858016967773},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25247693061828613},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.22515231370925903},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21596035361289978},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.13271674513816833},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09156155586242676},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08192288875579834},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07545056939125061}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7838538885116577},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7825621962547302},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7415868043899536},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6287605166435242},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5803464651107788},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.558607280254364},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5513404011726379},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5152233242988586},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5151923298835754},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5133678317070007},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.5058788657188416},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.47093668580055237},{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.4519668221473694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44895118474960327},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4120545983314514},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.383037805557251},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34129858016967773},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25247693061828613},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.22515231370925903},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21596035361289978},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.13271674513816833},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09156155586242676},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08192288875579834},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07545056939125061},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1007/s10514-016-9573-1","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-016-9573-1","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:HAL:hal-01137225v2","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01137225","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\\nISSN: \\n0929-5593","raw_type":"\\ninfo:eu-repo/semantics/article\\n"},{"id":"pmh:oai:HAL:hal-01137225v3","is_oa":true,"landing_page_url":"https://hal.science/hal-01137225","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots, 2017, 41 (1), pp.259-272. ⟨10.1007/s10514-016-9573-1⟩","raw_type":"Journal articles"},{"id":"pmh:oai:infoscience.epfl.ch:218853","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/218853","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:infoscience.tind.io:218853","is_oa":true,"landing_page_url":"http://link.springer.com/article/10.1007%2Fs10514-016-9573-1","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://infoscience.epfl.ch/record/218853","raw_type":"Text"},{"id":"pmh:oai:iris.unitn.it:11572/226096","is_oa":true,"landing_page_url":"http://hdl.handle.net/11572/226096","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:ora.ox.ac.uk:uuid:d828a147-8e15-4f0d-92d2-0b1c38c2fdfd","is_oa":false,"landing_page_url":"https://ora.ox.ac.uk/objects/uuid:d828a147-8e15-4f0d-92d2-0b1c38c2fdfd","pdf_url":null,"source":{"id":"https://openalex.org/S4306402636","display_name":"Oxford University Research Archive (ORA) (University of Oxford)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I40120149","host_organization_name":"University of Oxford","host_organization_lineage":["https://openalex.org/I40120149"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-01137225v2","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-01137225","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"\\nISSN: \\n0929-5593","raw_type":"\\ninfo:eu-repo/semantics/article\\n"},"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W1498151138","https://openalex.org/W1820821744","https://openalex.org/W1874049655","https://openalex.org/W1945123189","https://openalex.org/W1964965610","https://openalex.org/W1979047258","https://openalex.org/W1982902701","https://openalex.org/W1985875375","https://openalex.org/W1989016128","https://openalex.org/W2005080926","https://openalex.org/W2013439434","https://openalex.org/W2046636826","https://openalex.org/W2047842611","https://openalex.org/W2062940189","https://openalex.org/W2063805130","https://openalex.org/W2080421646","https://openalex.org/W2086587468","https://openalex.org/W2102154372","https://openalex.org/W2111904757","https://openalex.org/W2116501050","https://openalex.org/W2118320757","https://openalex.org/W2128848325","https://openalex.org/W2141042553","https://openalex.org/W2142536379","https://openalex.org/W2143729862","https://openalex.org/W2150666495","https://openalex.org/W2157822824","https://openalex.org/W2165739402","https://openalex.org/W2165918954","https://openalex.org/W2169017219","https://openalex.org/W2197995950","https://openalex.org/W2208576078","https://openalex.org/W2283655042","https://openalex.org/W2296360731","https://openalex.org/W4241459016","https://openalex.org/W4249280108","https://openalex.org/W4254086355","https://openalex.org/W4255703114","https://openalex.org/W6646798357","https://openalex.org/W6682264163"],"related_works":["https://openalex.org/W2141012854","https://openalex.org/W2145555530","https://openalex.org/W4210426000","https://openalex.org/W3179543309","https://openalex.org/W1968618465","https://openalex.org/W1580637061","https://openalex.org/W1511563303","https://openalex.org/W3080852575","https://openalex.org/W1533660521","https://openalex.org/W4389665904"],"abstract_inverted_index":null,"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":31},{"year":2023,"cited_by_count":39},{"year":2022,"cited_by_count":25},{"year":2021,"cited_by_count":29},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":24},{"year":2018,"cited_by_count":10},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}