{"id":"https://openalex.org/W4389237970","doi":"https://doi.org/10.1017/s0263574723001558","title":"A steerable robot walker driven by two actuators","display_name":"A steerable robot walker driven by two actuators","publication_year":2023,"publication_date":"2023-12-01","ids":{"openalex":"https://openalex.org/W4389237970","doi":"https://doi.org/10.1017/s0263574723001558"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001558","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723001558","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/CEB46F3B5E71F5CFCF3E862E576F2FEB/S0263574723001558a.pdf/div-class-title-a-steerable-robot-walker-driven-by-two-actuators-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/CEB46F3B5E71F5CFCF3E862E576F2FEB/S0263574723001558a.pdf/div-class-title-a-steerable-robot-walker-driven-by-two-actuators-div.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5045635402","display_name":"Jiaji Li","orcid":"https://orcid.org/0000-0002-8864-2061"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiaji Li","raw_affiliation_strings":["University of California, Irvine","Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108056682","display_name":"Chenhao Liu","orcid":"https://orcid.org/0000-0003-3325-0076"},"institutions":[{"id":"https://openalex.org/I36258959","display_name":"University of California San Diego","ror":"https://ror.org/0168r3w48","country_code":"US","type":"education","lineage":["https://openalex.org/I36258959"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chenhao Liu","raw_affiliation_strings":["University of California, San Diego","Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA 92093, USA"],"affiliations":[{"raw_affiliation_string":"University of California, San Diego","institution_ids":["https://openalex.org/I36258959"]},{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, University of California, San Diego, San Diego, CA 92093, USA","institution_ids":["https://openalex.org/I36258959"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111607033","display_name":"Ken Nguyen","orcid":null},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ken Nguyen","raw_affiliation_strings":["University of California, Irvine","Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA","institution_ids":["https://openalex.org/I204250578"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025686602","display_name":"J. Michael McCarthy","orcid":"https://orcid.org/0000-0002-3991-4681"},"institutions":[{"id":"https://openalex.org/I204250578","display_name":"University of California, Irvine","ror":"https://ror.org/04gyf1771","country_code":"US","type":"education","lineage":["https://openalex.org/I204250578"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J. Michael McCarthy","raw_affiliation_strings":["University of California, Irvine","Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA"],"affiliations":[{"raw_affiliation_string":"University of California, Irvine","institution_ids":["https://openalex.org/I204250578"]},{"raw_affiliation_string":"Robotics and Automation Laboratory, University of California, Irvine, Irvine, CA 92697, USA","institution_ids":["https://openalex.org/I204250578"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5025686602"],"corresponding_institution_ids":["https://openalex.org/I204250578"],"apc_list":null,"apc_paid":null,"fwci":0.7866,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.68874812,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"42","issue":"12","first_page":"4019","last_page":"4035"},"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":0.9973000288009644,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9891999959945679,"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/actuator","display_name":"Actuator","score":0.6088164448738098},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.5931039452552795},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5857929587364197},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5623435974121094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5511889457702637},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.5476027727127075},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5417554974555969},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5372021198272705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5027410984039307},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.483592689037323},{"id":"https://openalex.org/keywords/movement","display_name":"Movement (music)","score":0.45012593269348145},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4408951997756958},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42078855633735657},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.321053683757782},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3194505572319031},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.26583898067474365},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2632720470428467},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24223065376281738},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23775219917297363},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.193475604057312},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.1394093930721283}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6088164448738098},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.5931039452552795},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5857929587364197},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5623435974121094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5511889457702637},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.5476027727127075},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5417554974555969},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5372021198272705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5027410984039307},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.483592689037323},{"id":"https://openalex.org/C2780226923","wikidata":"https://www.wikidata.org/wiki/Q929848","display_name":"Movement (music)","level":2,"score":0.45012593269348145},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4408951997756958},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42078855633735657},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.321053683757782},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3194505572319031},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.26583898067474365},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2632720470428467},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24223065376281738},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23775219917297363},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.193475604057312},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.1394093930721283},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001558","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723001558","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/CEB46F3B5E71F5CFCF3E862E576F2FEB/S0263574723001558a.pdf/div-class-title-a-steerable-robot-walker-driven-by-two-actuators-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1017/s0263574723001558","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723001558","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/CEB46F3B5E71F5CFCF3E862E576F2FEB/S0263574723001558a.pdf/div-class-title-a-steerable-robot-walker-driven-by-two-actuators-div.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4389237970.pdf"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W647604146","https://openalex.org/W1490678064","https://openalex.org/W1543732096","https://openalex.org/W1574642617","https://openalex.org/W1666253975","https://openalex.org/W1670969129","https://openalex.org/W1991150681","https://openalex.org/W2009692931","https://openalex.org/W2012752411","https://openalex.org/W2029058516","https://openalex.org/W2039279693","https://openalex.org/W2060509038","https://openalex.org/W2071941952","https://openalex.org/W2084694778","https://openalex.org/W2098998403","https://openalex.org/W2143242122","https://openalex.org/W2154796117","https://openalex.org/W2282739418","https://openalex.org/W2519427229","https://openalex.org/W2560658338","https://openalex.org/W2910120781","https://openalex.org/W2913995178","https://openalex.org/W2966565944","https://openalex.org/W2970528191","https://openalex.org/W2992570163","https://openalex.org/W3004278730","https://openalex.org/W3035050467","https://openalex.org/W4226395753","https://openalex.org/W4241187624","https://openalex.org/W4285102144","https://openalex.org/W4285102385","https://openalex.org/W4285792072","https://openalex.org/W4386086864"],"related_works":["https://openalex.org/W2118485229","https://openalex.org/W2389535891","https://openalex.org/W2364268392","https://openalex.org/W2382663788","https://openalex.org/W2385205802","https://openalex.org/W2368594856","https://openalex.org/W2378646426","https://openalex.org/W2382050265","https://openalex.org/W2388799704","https://openalex.org/W2063695242"],"abstract_inverted_index":{"Abstract":[0],"This":[1,96],"article":[2],"describes":[3],"a":[4,9,44,53,57,64,104],"robot":[5,101],"walker":[6,25,69,80],"based":[7],"on":[8,43],"new":[10],"single":[11],"degree-of-freedom":[12],"six-bar":[13],"leg":[14],"mechanism":[15],"that":[16,68,83,102],"provides":[17],"rectilinear,":[18],"non-rotating,":[19],"movement":[20,42],"of":[21],"the":[22],"foot.":[23],"The":[24],"is":[26,87,97],"statically":[27],"stable":[28],"and":[29,61,91],"requires":[30],"only":[31],"two":[32],"actuators,":[33],"one":[34],"for":[35],"each":[36],"side,":[37],"to":[38,51],"provide":[39],"effective":[40],"walking":[41],"flat":[45],"surface.":[46],"We":[47],"use":[48],"Curvature":[49],"Theory":[50],"design":[52],"four-bar":[54],"linkage":[55],"with":[56],"flat-sided":[58],"coupler":[59,73],"curve":[60,74],"then":[62],"adds":[63],"translating":[65],"link":[66],"so":[67],"foot":[70],"follows":[71],"this":[72],"in":[75],"rectilinear":[76],"movement.":[77],"A":[78],"prototype":[79],"was":[81],"constructed":[82],"weighs":[84],"1.6":[85],"kg,":[86],"180":[88],"mm":[89],"tall,":[90],"travels":[92],"at":[93],"162":[94],"mm/s.":[95],"an":[98],"innovative":[99],"legged":[100],"has":[103],"simple":[105],"reliable":[106],"design.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}