{"id":"https://openalex.org/W4403077380","doi":"https://doi.org/10.1017/s0263574724001061","title":"Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle","display_name":"Dynamic modeling of wheeled biped robot and controller design for reducing chassis tilt angle","publication_year":2024,"publication_date":"2024-08-01","ids":{"openalex":"https://openalex.org/W4403077380","doi":"https://doi.org/10.1017/s0263574724001061"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574724001061","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724001061","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/A5014586667","display_name":"Nan Mao","orcid":"https://orcid.org/0009-0000-7114-4368"},"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"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","GB"],"is_corresponding":true,"raw_author_name":"Nan Mao","raw_affiliation_strings":["Centre for Robotics Research, King\u2019s College London, London, UK","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":"https://orcid.org/0009-0000-7114-4368","affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006359699","display_name":"Junpeng Chen","orcid":"https://orcid.org/0000-0001-8876-8695"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Chen","raw_affiliation_strings":["Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078798098","display_name":"Emmanouil Spyrakos-Papastavridis","orcid":"https://orcid.org/0000-0001-7448-8529"},"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":"Emmanouil Spyrakos-Papastavridis","raw_affiliation_strings":["Centre for Robotics Research, King\u2019s College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]},{"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"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Centre for Robotics Research, King\u2019s College London, London, UK","Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centre for Robotics Research, King\u2019s College London, London, UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5014586667"],"corresponding_institution_ids":["https://openalex.org/I183935753","https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":1.1535,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.75185317,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"42","issue":"8","first_page":"2713","last_page":"2741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9976000189781189,"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"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/chassis","display_name":"Chassis","score":0.9076987504959106},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.7101538777351379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5782123804092407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5513807535171509},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5069149136543274},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4908669590950012},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4846063554286957},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3760427236557007},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3138488531112671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2535630762577057},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12707483768463135},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11522793769836426}],"concepts":[{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.9076987504959106},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.7101538777351379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5782123804092407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5513807535171509},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5069149136543274},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4908669590950012},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4846063554286957},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3760427236557007},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3138488531112671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2535630762577057},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12707483768463135},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11522793769836426},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574724001061","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574724001061","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":48,"referenced_works":["https://openalex.org/W394375848","https://openalex.org/W1530888253","https://openalex.org/W1589322172","https://openalex.org/W1679315481","https://openalex.org/W1981352467","https://openalex.org/W1990625279","https://openalex.org/W2015654790","https://openalex.org/W2028145273","https://openalex.org/W2042677151","https://openalex.org/W2047215744","https://openalex.org/W2049965857","https://openalex.org/W2053241953","https://openalex.org/W2059268549","https://openalex.org/W2075488864","https://openalex.org/W2090111171","https://openalex.org/W2120499270","https://openalex.org/W2141532774","https://openalex.org/W2142809514","https://openalex.org/W2217697739","https://openalex.org/W2312321543","https://openalex.org/W2542612594","https://openalex.org/W2546549954","https://openalex.org/W2761143270","https://openalex.org/W2775982456","https://openalex.org/W2967118761","https://openalex.org/W2972560514","https://openalex.org/W3012010640","https://openalex.org/W3104695585","https://openalex.org/W3113883030","https://openalex.org/W3130733935","https://openalex.org/W3205902796","https://openalex.org/W3205946643","https://openalex.org/W3216702050","https://openalex.org/W4224257555","https://openalex.org/W4285792072","https://openalex.org/W4294584872","https://openalex.org/W4297493126","https://openalex.org/W4304775421","https://openalex.org/W4312105605","https://openalex.org/W4321788216","https://openalex.org/W4387094495","https://openalex.org/W4388273856","https://openalex.org/W4388308771","https://openalex.org/W4388344618","https://openalex.org/W4390099895","https://openalex.org/W4390112176","https://openalex.org/W4392046359","https://openalex.org/W6665325882"],"related_works":["https://openalex.org/W2051851664","https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W2658066576","https://openalex.org/W3165231051","https://openalex.org/W2364297307","https://openalex.org/W4285723892","https://openalex.org/W2328317394","https://openalex.org/W2000675896"],"abstract_inverted_index":{"Abstract":[0],"The":[1,102,183],"wheeled-legged":[2],"robot":[3,49,67,118],"combines":[4],"the":[5,34,42,61,64,66,70,74,83,86,89,94,113,117,131,136,142,148,159,166],"advantages":[6],"of":[7,45,63,73,85,88,96,116,135,161,185],"wheeled":[8,47],"and":[9,21,36,77,99,119,145,164,199,205],"legged":[10],"robots,":[11],"making":[12],"it":[13],"easier":[14],"to":[15],"assist":[16],"people":[17],"in":[18,24,82,105],"completing":[19],"repetitive":[20],"time-consuming":[22],"tasks":[23],"their":[25],"daily":[26],"lives.":[27],"This":[28,128,153],"paper":[29],"presents":[30],"a":[31,46,51,121,174],"study":[32],"on":[33,69,196],"kinematic":[35],"dynamic":[37],"modeling,":[38],"as":[39,41,56,141],"well":[40],"controller":[43,103,129],"design,":[44],"biped":[48],"with":[50],"parallel":[52],"five-bar":[53],"linkage":[54],"mechanism":[55],"its":[57],"leg":[58],"module.":[59],"During":[60],"motion":[62],"robot,":[65,90],"relies":[68],"tilt":[71,150],"angle":[72,79,134,151],"inverted":[75,138],"pendulum,":[76],"this":[78,106,126,186],"often":[80],"results":[81],"tilting":[84],"chassis":[87,149],"presenting":[91],"challenges":[92],"for":[93,147,168,179],"installation":[95],"upper-body":[97,181],"payloads":[98],"sensor":[100],"systems.":[101],"proposed":[104],"paper,":[107],"which":[108],"is":[109,189],"developed":[110],"by":[111],"decoupling":[112],"primary":[114],"motions":[115],"designing":[120],"multi-objective,":[122],"multilevel":[123],"controller,":[124],"addresses":[125],"issue.":[127],"employs":[130],"pendulum":[132,139],"pitch":[133],"equivalent":[137],"model":[140],"control":[143,154,187],"variable":[144,192],"compensates":[146],"(CTA).":[152],"method":[155],"can":[156],"effectively":[157],"reduce":[158],"CTA":[160],"such":[162],"robots":[163],"eliminate":[165],"need":[167],"additional":[169],"counterweights.":[170],"It":[171],"also":[172],"provides":[173],"more":[175],"spacious":[176],"structural":[177],"design":[178],"accommodating":[180],"devices.":[182],"effectiveness":[184],"framework":[188],"verified":[190],"through":[191],"height":[193],"control,":[194],"walking":[195],"flat":[197],"ground,":[198],"carrying":[200],"loads":[201],"over":[202],"rough":[203],"terrain":[204],"slopes.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":5},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
