{"id":"https://openalex.org/W3205907940","doi":"https://doi.org/10.1017/s0263574721001326","title":"Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis","display_name":"Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis","publication_year":2021,"publication_date":"2021-10-06","ids":{"openalex":"https://openalex.org/W3205907940","doi":"https://doi.org/10.1017/s0263574721001326","mag":"3205907940"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574721001326","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001326","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/A5100696954","display_name":"Shengjie Wang","orcid":"https://orcid.org/0000-0001-8467-3031"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengjie Wang","raw_affiliation_strings":["MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100635668","display_name":"Kun Wang","orcid":"https://orcid.org/0000-0001-6897-5507"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Kun Wang","raw_affiliation_strings":["Centre for Robotics Research, King\u2019s College London, Strand, London WC2R 2LS, UK","Centre for Robotics Research, King's College London, Strand, London WC2R 2LS, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King\u2019s College London, Strand, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research, King's College London, Strand, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067840373","display_name":"Chunsong Zhang","orcid":"https://orcid.org/0000-0002-3459-6055"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chunsong Zhang","raw_affiliation_strings":["MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China"],"raw_orcid":"https://orcid.org/0000-0002-3459-6055","affiliations":[{"raw_affiliation_string":"MOE Key Laboratory of Mechanism Theory and Equipment Design, Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300345, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jian S Dai","raw_affiliation_strings":["Centre for Robotics Research, King\u2019s College London, Strand, London WC2R 2LS, UK","Centre for Robotics Research, King's College London, Strand, London WC2R 2LS, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King\u2019s College London, Strand, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research, King's College London, Strand, London WC2R 2LS, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067840373"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.9101,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.7121284,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"40","issue":"6","first_page":"1713","last_page":"1731"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9891999959945679,"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/workspace","display_name":"Workspace","score":0.7772430777549744},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.702423632144928},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6463370323181152},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5849617719650269},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5323857069015503},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5210744142532349},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5042909383773804},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.4298958480358124},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.41814202070236206},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.41511672735214233},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39162519574165344},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30354568362236023},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2103465497493744},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13205796480178833},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09908068180084229},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07343900203704834}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7772430777549744},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.702423632144928},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6463370323181152},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5849617719650269},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5323857069015503},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5210744142532349},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5042909383773804},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.4298958480358124},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.41814202070236206},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.41511672735214233},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39162519574165344},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30354568362236023},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2103465497493744},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13205796480178833},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09908068180084229},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07343900203704834},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574721001326","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574721001326","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"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/e88705e1-7a68-4477-8956-6bea8f2fcbe6","is_oa":false,"landing_page_url":"https://kclpure.kcl.ac.uk/portal/en/publications/e88705e1-7a68-4477-8956-6bea8f2fcbe6","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Wang, S, Wang, K, Zhang, C & Dai, J S 2022, 'Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis', Robotica, vol. 40, no. 6, pp. 1713-1731. https://doi.org/10.1017/S0263574721001326","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G4105187712","display_name":null,"funder_award_id":"EP/S019790/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":57,"referenced_works":["https://openalex.org/W1528522669","https://openalex.org/W1532797516","https://openalex.org/W1570072080","https://openalex.org/W1666853850","https://openalex.org/W1778336207","https://openalex.org/W1822001265","https://openalex.org/W1968560077","https://openalex.org/W1974826144","https://openalex.org/W1975230295","https://openalex.org/W1979445726","https://openalex.org/W1981352467","https://openalex.org/W1983725613","https://openalex.org/W2001757193","https://openalex.org/W2005805981","https://openalex.org/W2020342163","https://openalex.org/W2035869935","https://openalex.org/W2041218023","https://openalex.org/W2044702652","https://openalex.org/W2045196727","https://openalex.org/W2051980925","https://openalex.org/W2053241953","https://openalex.org/W2075301351","https://openalex.org/W2107742267","https://openalex.org/W2108197071","https://openalex.org/W2111904757","https://openalex.org/W2135572107","https://openalex.org/W2142992961","https://openalex.org/W2145705329","https://openalex.org/W2146895111","https://openalex.org/W2182413092","https://openalex.org/W2202678121","https://openalex.org/W2566612950","https://openalex.org/W2593291837","https://openalex.org/W2599452774","https://openalex.org/W2611250641","https://openalex.org/W2611350195","https://openalex.org/W2764255492","https://openalex.org/W2770049904","https://openalex.org/W2789029199","https://openalex.org/W2899365804","https://openalex.org/W2901508293","https://openalex.org/W2967118761","https://openalex.org/W2968213087","https://openalex.org/W2972560514","https://openalex.org/W3041910523","https://openalex.org/W3130405313","https://openalex.org/W3130417387","https://openalex.org/W3135427598","https://openalex.org/W3180361454","https://openalex.org/W6637928374","https://openalex.org/W6642659001","https://openalex.org/W6645076719","https://openalex.org/W6676785819","https://openalex.org/W6731176121","https://openalex.org/W6767243755","https://openalex.org/W6790914304","https://openalex.org/W6798903495"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2139993144","https://openalex.org/W2161214141","https://openalex.org/W2102645302","https://openalex.org/W2326117494","https://openalex.org/W1970280380","https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"kinetostatic":[2,50],"approach":[3],"applied":[4],"to":[5,44],"the":[6,26,29,40,60,83,89,92,96,103,108,124,127],"design":[7,37,93],"of":[8,28,72,95,105],"a":[9,54,70,113,118,129],"backflip":[10,56,84],"strategy":[11,33,57,109,125],"for":[12,39],"quadruped":[13,42],"robots":[14,43],"is":[15,67,110],"proposed":[16],"in":[17,133],"this":[18,32,106],"paper.":[19],"Inspired":[20],"by":[21,112],"legged":[22],"animals":[23],"and":[24,51,76,98,115],"taking":[25],"advantage":[27],"leg":[30,97],"workspace,":[31],"provides":[34],"an":[35],"optimal":[36],"idea":[38],"low-cost":[41],"achieve":[45],"self-recovery":[46,131],"after":[47],"overturning.":[48],"Through":[49],"energy":[52,66],"analysis,":[53],"four-stepped":[55],"based":[58],"on":[59],"selected":[61],"rotation":[62],"axis":[63],"with":[64,69,88,117],"minimum":[65],"proposed,":[68],"process":[71],"selection,":[73],"lifting,":[74],"rotating,":[75],"protection.":[77],"The":[78],"kinematic":[79],"factors":[80],"that":[81,123],"affect":[82],"are":[85],"investigated,":[86],"along":[87],"relationship":[90],"between":[91],"parameters":[94],"trunk":[99],"being":[100],"analyzed.":[101],"At":[102],"end":[104],"paper,":[107],"validated":[111],"simulation":[114],"experiments":[116],"prototype":[119],"called":[120],"DRbot,":[121],"demonstrating":[122],"endows":[126],"robot":[128],"strong":[130],"ability":[132],"various":[134],"terrains.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}