{"id":"https://openalex.org/W2089249678","doi":"https://doi.org/10.1017/s0263574700016106","title":"Basic characteristics and stability properties of quadruped crab gaits","display_name":"Basic characteristics and stability properties of quadruped crab gaits","publication_year":1993,"publication_date":"1993-05-01","ids":{"openalex":"https://openalex.org/W2089249678","doi":"https://doi.org/10.1017/s0263574700016106","mag":"2089249678"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700016106","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700016106","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"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/A5025157851","display_name":"Byung-Eui Min","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Byungeui Min","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5105774489","display_name":"Zeungnam Bien","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zeungnam Bien","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5096811065","display_name":"Seungku Hwangt\u2020","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Seungku Hwangt\u2020","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.239,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.87347349,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":"3","first_page":"233","last_page":"243"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9962999820709229,"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":0.9962999820709229,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9660000205039978,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9575999975204468,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.8131229877471924},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6107282638549805},{"id":"https://openalex.org/keywords/weighting","display_name":"Weighting","score":0.5721303820610046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47818759083747864},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.47759222984313965},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42572250962257385},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.42280787229537964},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4122177064418793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23422271013259888},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.19860580563545227},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1802426278591156},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0935717225074768},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08065629005432129}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8131229877471924},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6107282638549805},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.5721303820610046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47818759083747864},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.47759222984313965},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42572250962257385},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.42280787229537964},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4122177064418793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23422271013259888},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.19860580563545227},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1802426278591156},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0935717225074768},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08065629005432129},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700016106","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700016106","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1995682655","https://openalex.org/W2005805981","https://openalex.org/W2012752411","https://openalex.org/W2042407741","https://openalex.org/W2044702652","https://openalex.org/W2075301351","https://openalex.org/W2100713813","https://openalex.org/W2137824712","https://openalex.org/W2414956348","https://openalex.org/W6675070170"],"related_works":["https://openalex.org/W2180954594","https://openalex.org/W2052835778","https://openalex.org/W2049003611","https://openalex.org/W2127804977","https://openalex.org/W2108418243","https://openalex.org/W164103134","https://openalex.org/W2787352659","https://openalex.org/W4206560911","https://openalex.org/W1970611213","https://openalex.org/W4372260270"],"abstract_inverted_index":{"SUMMARY":[0],"In":[1],"this":[2,118],"paper,":[3],"we":[4,93],"investigate":[5],"the":[6,17,29,43,53,87,95,124,133],"crab":[7,20,37,90,134],"gaits":[8,21],"of":[9,19,34,52,89,97,99,109,132],"a":[10,35,60,65,77,129],"quadruped.":[11],"Some":[12],"important":[13],"characteristics":[14],"that":[15],"simplify":[16],"analysis":[18,49],"are":[22,39],"presented,":[23],"and":[24,50,71,103],"several":[25],"formulas":[26],"for":[27,68],"optimizing":[28],"longitudinal":[30],"gait":[31,38,54,79,82,127],"stability":[32,83,102],"margin":[33,84],"quadruped":[36],"derived":[40,116],"by":[41,58],"incorporating":[42],"time":[44],"weighting":[45],"factor":[46],".":[47,113],"The":[48,114],"implementation":[51],"have":[55],"been":[56],"simplified":[57],"employing":[59],"pseudo-world":[61],"coordinate":[62],"frame":[63,67],"as":[64,128],"reference":[66],"describing":[69],"footholds":[70,100],"vehicle's":[72],"motion.":[73],"We":[74],"also":[75],"suggest":[76],"unique":[78],"which":[80],"optimizes":[81],"according":[85],"to":[86],"range":[88],"angle.":[91],"Finally,":[92],"consider":[94],"effects":[96],"variations":[98],"on":[101,123],"maximum":[104],"permissible":[105],"stroke":[106],"in":[107,117],"terms":[108],"support":[110],"boundary":[111],"angle":[112],"results":[115],"paper":[119],"contain":[120],"previous":[121],"works":[122],"forward":[125],"walking":[126],"special":[130],"case":[131],"gait.":[135]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}