{"id":"https://openalex.org/W4286491542","doi":"https://doi.org/10.1017/s0263574722000674","title":"Effects of spinal structure on quadruped bounding gait","display_name":"Effects of spinal structure on quadruped bounding gait","publication_year":2022,"publication_date":"2022-07-21","ids":{"openalex":"https://openalex.org/W4286491542","doi":"https://doi.org/10.1017/s0263574722000674"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574722000674","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000674","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/A5027904473","display_name":"Lei Chen","orcid":"https://orcid.org/0000-0002-1613-4017"},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chen Lei","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China; State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-1613-4017","affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China; State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I151727225","https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Chen Dongliang","orcid":null},"institutions":[{"id":"https://openalex.org/I151727225","display_name":"Harbin Engineering University","ror":"https://ror.org/03x80pn82","country_code":"CN","type":"education","lineage":["https://openalex.org/I151727225"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chen Dongliang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China","institution_ids":["https://openalex.org/I151727225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100391490","display_name":"Dong Wei","orcid":"https://orcid.org/0000-0002-6342-4658"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dong Wei","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I151727225"],"apc_list":null,"apc_paid":null,"fwci":0.6431,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.60291927,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"40","issue":"11","first_page":"3911","last_page":"3929"},"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":0.9685999751091003,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9542999863624573,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/bounding-overwatch","display_name":"Bounding overwatch","score":0.782862663269043},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.634676456451416},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5874125361442566},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5055088996887207},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.488149493932724},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39701569080352783},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.2591855227947235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22821968793869019},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.08477166295051575}],"concepts":[{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.782862663269043},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.634676456451416},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5874125361442566},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5055088996887207},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.488149493932724},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39701569080352783},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.2591855227947235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22821968793869019},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.08477166295051575}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574722000674","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574722000674","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W191034925","https://openalex.org/W1526860849","https://openalex.org/W1535702775","https://openalex.org/W1607633572","https://openalex.org/W1927753533","https://openalex.org/W1975214272","https://openalex.org/W1978216860","https://openalex.org/W1994791164","https://openalex.org/W2005577175","https://openalex.org/W2022770570","https://openalex.org/W2025549353","https://openalex.org/W2031352735","https://openalex.org/W2048963734","https://openalex.org/W2057418003","https://openalex.org/W2059242862","https://openalex.org/W2077676902","https://openalex.org/W2094496385","https://openalex.org/W2098329609","https://openalex.org/W2102337049","https://openalex.org/W2117053419","https://openalex.org/W2170770259","https://openalex.org/W2189065345","https://openalex.org/W2328920909","https://openalex.org/W2343983667","https://openalex.org/W2352519756","https://openalex.org/W2555009788","https://openalex.org/W2593412525","https://openalex.org/W2599116729","https://openalex.org/W2765582873","https://openalex.org/W2793676850","https://openalex.org/W6749778851"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W4220998883","https://openalex.org/W2123520777","https://openalex.org/W2624268046","https://openalex.org/W4220712836","https://openalex.org/W1986105765","https://openalex.org/W2120044733","https://openalex.org/W3126265346","https://openalex.org/W2098163390","https://openalex.org/W2150214447"],"abstract_inverted_index":{"Abstract":[0],"This":[1,81],"paper":[2],"proposes":[3],"a":[4,89],"robot":[5],"model":[6],"with":[7],"multiple":[8],"spines":[9],"and":[10,32,44,55,78],"investigates":[11],"its":[12],"effects":[13],"on":[14],"the":[15,34,50,64,68,76],"bounding":[16],"gait":[17],"of":[18,36,70],"quadruped":[19,90],"robot.":[20,91],"Contrastive":[21],"tests,":[22],"carried":[23],"out":[24],"by":[25],"adding":[26],"an":[27],"active":[28],"driving":[29,38,58,72],"joint":[30],"(ADJ)":[31],"changing":[33],"number":[35,69],"passive":[37,57,71],"joints,":[39],"were":[40],"divided":[41],"between":[42],"simulation":[43],"physical.":[45],"The":[46],"results":[47],"reveal":[48],"that":[49],"spinal":[51],"structure":[52,82],"(one":[53],"ADJ":[54],"several":[56],"joints)":[59],"is":[60],"closely":[61],"related":[62],"to":[63],"performance":[65],"parameters.":[66],"Increasing":[67],"joints":[73],"can":[74],"improve":[75],"velocity":[77],"energy":[79],"efficiency.":[80],"may":[83],"have":[84],"significant":[85],"guidance":[86],"for":[87],"designing":[88]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
