{"id":"https://openalex.org/W4289443199","doi":"https://doi.org/10.1108/ir-01-2022-0028","title":"Improved A* algorithm and model predictive control- based path planning and tracking framework for hexapod robots","display_name":"Improved A* algorithm and model predictive control- based path planning and tracking framework for hexapod robots","publication_year":2022,"publication_date":"2022-08-02","ids":{"openalex":"https://openalex.org/W4289443199","doi":"https://doi.org/10.1108/ir-01-2022-0028"},"language":"en","primary_location":{"id":"doi:10.1108/ir-01-2022-0028","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2022-0028","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5090450899","display_name":"Zelin Wang","orcid":"https://orcid.org/0000-0002-0646-8881"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zelin Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061334062","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0002-5075-4076"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058974135","display_name":"Yue Zhao","orcid":"https://orcid.org/0000-0002-5710-2994"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Zhao","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108817235","display_name":"Yunpeng Yin","orcid":"https://orcid.org/0009-0003-5915-256X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunpeng Yin","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102865259","display_name":"Liangyu Wang","orcid":"https://orcid.org/0009-0002-6622-750X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liangyu Wang","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5090450899"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.8412,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.84392561,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"50","issue":"1","first_page":"135","last_page":"144"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9886999726295471,"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/hexapod","display_name":"Hexapod","score":0.9725215435028076},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.7677449584007263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6440298557281494},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5918713808059692},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5819458961486816},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49054521322250366},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41691142320632935},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3611803650856018},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3294983506202698},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3270752429962158},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2769727110862732},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2478441298007965}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9725215435028076},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.7677449584007263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6440298557281494},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5918713808059692},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5819458961486816},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49054521322250366},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41691142320632935},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3611803650856018},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3294983506202698},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3270752429962158},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2769727110862732},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2478441298007965},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-01-2022-0028","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-01-2022-0028","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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":25,"referenced_works":["https://openalex.org/W1969483458","https://openalex.org/W1969839206","https://openalex.org/W1971086298","https://openalex.org/W1997063273","https://openalex.org/W2099144379","https://openalex.org/W2103120971","https://openalex.org/W2117211893","https://openalex.org/W2121750169","https://openalex.org/W2128990851","https://openalex.org/W2608872540","https://openalex.org/W2624341934","https://openalex.org/W2799820594","https://openalex.org/W2855708221","https://openalex.org/W2885205665","https://openalex.org/W2899548746","https://openalex.org/W2906415336","https://openalex.org/W2911087563","https://openalex.org/W2965852855","https://openalex.org/W2980351131","https://openalex.org/W2996899864","https://openalex.org/W3006552748","https://openalex.org/W3036426691","https://openalex.org/W3037731553","https://openalex.org/W3041910523","https://openalex.org/W3135798356"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W2359600231","https://openalex.org/W3216757130","https://openalex.org/W2380019117","https://openalex.org/W2126380264","https://openalex.org/W2093343611","https://openalex.org/W1660309994","https://openalex.org/W1987886368","https://openalex.org/W2369187583","https://openalex.org/W2126635878"],"abstract_inverted_index":{"Purpose":[0],"Path":[1],"planning":[2,45,69,191,207],"is":[3,19,40,63,75,125,128,141],"a":[4,43,58,67,91,100,119,134,158,186],"fundamental":[5],"and":[6,33,46,93,149,162,165,192,216],"significant":[7],"issue":[8],"in":[9],"robotics":[10],"research,":[11],"especially":[12],"for":[13,23,49,122,143,188],"the":[14,20,50,79,86,106,111,116,154,166,173,177,180,201,204,223],"legged":[15],"robots,":[16],"since":[17],"it":[18],"core":[21],"technology":[22],"robots":[24],"to":[25,41,89,130,230],"complete":[26],"complex":[27],"tasks":[28],"such":[29,209],"as":[30,210],"autonomous":[31,51,189],"navigation":[32,52],"exploration.":[34],"The":[35,147,183],"purpose":[36],"of":[37,53,113,115,179,194,203,212,220],"this":[38],"paper":[39],"propose":[42],"path":[44,68,131,144,174,190,206],"tracking":[47,139,193],"framework":[48,155,187],"hexapod":[54,59,123,195,233],"robots.":[55,196],"Design/methodology/approach":[56],"First,":[57],"robot":[60,124,169],"called":[61],"Hexapod-Mini":[62],"briefly":[64],"introduced.":[65],"Then":[66,97],"algorithm":[70],"based":[71,104],"on":[72,105],"improved":[73],"A*":[74],"proposed,":[76,126],"which":[77,109,127],"introduces":[78],"artificial":[80],"potential":[81],"field":[82],"(APF)":[83],"factor":[84],"into":[85],"evaluation":[87],"function":[88],"generate":[90,157],"safe":[92],"collision-free":[94,161],"initial":[95],"path.":[96,117],"we":[98],"apply":[99],"turning":[101],"point":[102],"optimization":[103],"greedy":[107],"algorithm,":[108],"optimizes":[110],"number":[112,219],"turns":[114],"And":[118,222],"fast-turning":[120],"trajectory":[121],"applied":[129,229],"smoothing.":[132],"Besides,":[133],"model":[135],"predictive":[136],"control-based":[137],"motion":[138],"controller":[140],"used":[142],"tracking.":[145],"Findings":[146],"simulation":[148],"experiment":[150],"results":[151],"show":[152],"that":[153,175],"can":[156,170],"safe,":[159],"fast,":[160],"smooth":[163],"path,":[164],"author\u2019s":[167],"Hexapod":[168],"effectively":[171],"track":[172],"demonstrates":[176],"performance":[178],"framework.":[181],"Originality/value":[182],"work":[184],"presented":[185],"This":[197],"new":[198],"approach":[199],"overcomes":[200],"disadvantages":[202],"traditional":[205],"approach,":[208],"lack":[211],"security,":[213],"insufficient":[214],"smoothness":[215],"an":[217,231],"excessive":[218],"turns.":[221],"proposed":[224],"method":[225],"has":[226],"been":[227],"successfully":[228],"actual":[232],"robot.":[234]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
