{"id":"https://openalex.org/W2952100933","doi":"https://doi.org/10.1017/s0263574719000742","title":"Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism","display_name":"Theoretical Study of Global Scale Analysis Method for Agile Bionic Leg Mechanism","publication_year":2019,"publication_date":"2019-06-19","ids":{"openalex":"https://openalex.org/W2952100933","doi":"https://doi.org/10.1017/s0263574719000742","mag":"2952100933"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574719000742","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000742","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/A5071549567","display_name":"Hongbin Zang","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Hongbin Zang","raw_affiliation_strings":["Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China","Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dengfeng Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I1297991670","display_name":"Southwest University of Science and Technology","ror":"https://ror.org/04d996474","country_code":"CN","type":"education","lineage":["https://openalex.org/I1297991670"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dengfeng Zhao","raw_affiliation_strings":["Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education, Southwest University of Science and Technology, Mianyang 621010, China","institution_ids":["https://openalex.org/I1297991670"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050724237","display_name":"Lianguan Shen","orcid":"https://orcid.org/0000-0001-5205-106X"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lianguan Shen","raw_affiliation_strings":["Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China"],"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei 230027, China","institution_ids":["https://openalex.org/I126520041"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5071549567"],"corresponding_institution_ids":["https://openalex.org/I126520041","https://openalex.org/I1297991670"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.05501222,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"38","issue":"3","first_page":"427","last_page":"441"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9970999956130981,"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":0.9919000267982483,"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/correctness","display_name":"Correctness","score":0.6270936727523804},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6095747947692871},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.605768084526062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5407926440238953},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5079177021980286},{"id":"https://openalex.org/keywords/grashof-number","display_name":"Grashof number","score":0.48867133259773254},{"id":"https://openalex.org/keywords/screw-theory","display_name":"Screw theory","score":0.48608162999153137},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.48531121015548706},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.44791045784950256},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.44530385732650757},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4217960238456726},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4059939384460449},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3834877610206604},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.37166208028793335},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3666072487831116},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35234954953193665},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2681201994419098},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2534986138343811},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1377480924129486},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09730398654937744},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08128952980041504}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.6270936727523804},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6095747947692871},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.605768084526062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5407926440238953},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5079177021980286},{"id":"https://openalex.org/C13027520","wikidata":"https://www.wikidata.org/wiki/Q868719","display_name":"Grashof number","level":5,"score":0.48867133259773254},{"id":"https://openalex.org/C18788176","wikidata":"https://www.wikidata.org/wiki/Q7891441","display_name":"Screw theory","level":3,"score":0.48608162999153137},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.48531121015548706},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.44791045784950256},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.44530385732650757},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4217960238456726},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4059939384460449},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3834877610206604},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.37166208028793335},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3666072487831116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35234954953193665},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2681201994419098},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2534986138343811},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1377480924129486},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09730398654937744},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08128952980041504},{"id":"https://openalex.org/C196558001","wikidata":"https://www.wikidata.org/wiki/Q190132","display_name":"Turbulence","level":2,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C130230704","wikidata":"https://www.wikidata.org/wiki/Q898280","display_name":"Nusselt number","level":4,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C182748727","wikidata":"https://www.wikidata.org/wiki/Q178932","display_name":"Reynolds number","level":3,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574719000742","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574719000742","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":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W338169880","https://openalex.org/W926690796","https://openalex.org/W1975230295","https://openalex.org/W1978102433","https://openalex.org/W1979445726","https://openalex.org/W1995093229","https://openalex.org/W2009193957","https://openalex.org/W2012162805","https://openalex.org/W2028540104","https://openalex.org/W2040176476","https://openalex.org/W2045128517","https://openalex.org/W2053881671","https://openalex.org/W2055416786","https://openalex.org/W2062415606","https://openalex.org/W2071774966","https://openalex.org/W2081469022","https://openalex.org/W2091356137","https://openalex.org/W2095557545","https://openalex.org/W2111508559","https://openalex.org/W2111904757","https://openalex.org/W2116528556","https://openalex.org/W2127502208","https://openalex.org/W2159220301","https://openalex.org/W2295130897","https://openalex.org/W2317019953","https://openalex.org/W2326849350","https://openalex.org/W2353623354","https://openalex.org/W2400503888","https://openalex.org/W2556028167","https://openalex.org/W2560658338","https://openalex.org/W2605092218","https://openalex.org/W2769867975","https://openalex.org/W6683109317"],"related_works":["https://openalex.org/W2378875176","https://openalex.org/W96871061","https://openalex.org/W1996977285","https://openalex.org/W2370176511","https://openalex.org/W2082146538","https://openalex.org/W413792100","https://openalex.org/W2487052884","https://openalex.org/W2950561169","https://openalex.org/W2386342664","https://openalex.org/W2084960844"],"abstract_inverted_index":{"Summary":[0],"Agile":[1],"bionic":[2],"leg":[3],"mechanism":[4,69],"(ABLM)":[5],"has":[6],"attracted":[7],"more":[8,10],"and":[9,18,32,49,108,129,134],"attention":[11],"in":[12],"the":[13,26,39,109,114,119],"development":[14],"of":[15,25,60,97,121,138],"jumping":[16],"robots":[17],"high-speed":[19],"running":[20],"robots.":[21],"However,":[22],"theoretical":[23],"study":[24],"global":[27,53,94,135],"structure":[28],"for":[29,57,131],"motility":[30],"characteristics":[31],"its":[33],"evolution":[34],"is":[35,62,77,86,100,111],"few.":[36],"By":[37],"using":[38,105],"modern":[40],"mathematical":[41],"tools":[42],"such":[43],"as":[44,70],"singular":[45],"theory,":[46,51],"geometric":[47],"topology,":[48],"group":[50],"a":[52,73,126],"scale":[54,95,136],"analysis":[55,75,96,137],"method":[56,130],"kinematic":[58],"performance":[59],"mechanisms":[61],"proposed.":[63],"Taking":[64],"6-bar":[65,80],"with":[66,113],"two":[67],"rings":[68],"an":[71],"example,":[72],"detailed":[74],"process":[76],"studied.":[78],"The":[79,93],"ABLM":[81],"designed":[82],"by":[83,88,104],"this":[84,106,122],"theory":[85,128],"verified":[87],"virtual":[89],"prototype":[90],"simulation":[91],"experiment.":[92],"4-bar":[98],"linkage":[99],"also":[101],"carried":[102],"out":[103],"method,":[107],"result":[110],"compared":[112],"\u201cGrashof":[115],"criterion\u201d":[116],"to":[117],"verify":[118],"correctness":[120],"method.":[123],"It":[124],"provides":[125],"general":[127],"innovative":[132],"design":[133],"ABLM.":[139]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
