{"id":"https://openalex.org/W2582150358","doi":"https://doi.org/10.1108/ir-05-2016-0149","title":"Bio-inspired control strategy study for the quadruped robot with a segmented spine","display_name":"Bio-inspired control strategy study for the quadruped robot with a segmented spine","publication_year":2017,"publication_date":"2017-01-16","ids":{"openalex":"https://openalex.org/W2582150358","doi":"https://doi.org/10.1108/ir-05-2016-0149","mag":"2582150358"},"language":"en","primary_location":{"id":"doi:10.1108/ir-05-2016-0149","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2016-0149","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: An International Journal","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/A5100710372","display_name":"Chunlei Wang","orcid":"https://orcid.org/0000-0003-2574-7314"},"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":"Chunlei Wang","raw_affiliation_strings":["The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The 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/A5100767912","display_name":"Ting Zhang","orcid":"https://orcid.org/0009-0009-8160-8459"},"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":"Ting Zhang","raw_affiliation_strings":["The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The 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/A5010355641","display_name":"Xiaohui Wei","orcid":"https://orcid.org/0000-0001-7160-4838"},"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":"Xiaohui Wei","raw_affiliation_strings":["The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The 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/A5067712594","display_name":"Yongjun Long","orcid":null},"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":"Yongjun Long","raw_affiliation_strings":["The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The 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/A5101855293","display_name":"Shigang Wang","orcid":null},"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":"Shigang Wang","raw_affiliation_strings":["The State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The 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/A5100710372"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":0.7647,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.68539876,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"44","issue":"1","first_page":"85","last_page":"93"},"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9718000292778015,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.906499981880188,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/control-theory","display_name":"Control theory (sociology)","score":0.7288427352905273},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.7202658653259277},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6360054612159729},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.5616444945335388},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.46542495489120483},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4539066553115845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4398772716522217},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.42570409178733826},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4131603538990021},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38282373547554016},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2663215100765228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20588979125022888},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0658186674118042}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7288427352905273},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.7202658653259277},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6360054612159729},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.5616444945335388},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.46542495489120483},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4539066553115845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4398772716522217},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.42570409178733826},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4131603538990021},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38282373547554016},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2663215100765228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20588979125022888},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0658186674118042},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-05-2016-0149","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2016-0149","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: An International Journal","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1529148071","https://openalex.org/W2001607109","https://openalex.org/W2048963734","https://openalex.org/W2060119224","https://openalex.org/W2068551947","https://openalex.org/W2081700430","https://openalex.org/W2094496385","https://openalex.org/W2111756727","https://openalex.org/W2130913250","https://openalex.org/W2132021126","https://openalex.org/W2141791321","https://openalex.org/W2156174987","https://openalex.org/W2156355884","https://openalex.org/W2169205101","https://openalex.org/W2284389806","https://openalex.org/W2312317155","https://openalex.org/W2328920909","https://openalex.org/W2415071619"],"related_works":["https://openalex.org/W1941703695","https://openalex.org/W3121246613","https://openalex.org/W3131574667","https://openalex.org/W4323768008","https://openalex.org/W3166204570","https://openalex.org/W4248382324","https://openalex.org/W4360995134","https://openalex.org/W2018658498","https://openalex.org/W2350319669","https://openalex.org/W2387672602"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"study":[2],"aims":[3],"to":[4,32,45,65,102,113,161],"establish":[5],"a":[6,15,171,175],"bio-inspired":[7,25,153,157,185,202],"controller":[8,26,158,186,203],"for":[9,87,187,211],"realizing":[10],"the":[11,34,40,46,53,58,61,66,75,78,84,91,97,103,108,115,120,127,133,138,142,152,156,163,179,184,188,212,217],"bounding":[12,139,164],"gait":[13,140,165],"of":[14,37,55,60,90,119,141,166,183,190,216],"quadruped":[16,172,191,206,219],"robot":[17,173,192,207],"system":[18,208],"presented":[19,130],"in":[20,74],"this":[21],"paper.":[22],"Design/methodology/approach":[23],"The":[24,70,201],"is":[27,43,100,159,170],"divided":[28],"into":[29],"three":[30],"levels":[31],"mimic":[33],"biological":[35],"patterns":[36],"animals.":[38,56],"First,":[39],"high-level":[41],"sub-controller":[42,63,99],"equivalent":[44],"cerebellum,":[47],"which":[48,106,169],"could":[49,146],"plan":[50],"and":[51,80,93,122,132,149,181,204,214],"control":[52,112,136,189],"motion":[54,89,117],"Second,":[57],"effect":[59],"middle-level":[62],"corresponds":[64],"central":[67,71],"nervous":[68],"system.":[69],"pattern":[72],"generators":[73],"spine":[76,94,176],"generate":[77],"stable":[79],"cyclic":[81],"signals":[82],"as":[83],"fundamental":[85],"rhythm":[86],"periodic":[88],"leg":[92],"joints.":[95],"Third,":[96],"low-level":[98],"equal":[101],"end":[104],"effector,":[105],"adopts":[107],"simple":[109],"proportional-derivative":[110],"(PD)":[111],"realize":[114,162],"specific":[116],"trajectory":[118],"legs":[121],"spine.":[123],"Findings":[124],"Combined":[125],"with":[126,174],"stability":[128],"criterion":[129],"previously":[131],"delayed":[134],"feedback":[135],"method,":[137],"cheetah":[143],"virtual":[144],"prototype":[145],"be":[147],"actuated":[148],"stabilized":[150],"by":[151],"controller.":[154],"Moreover,":[155],"applied":[160],"an":[167],"SQBot,":[168],"joint.":[177],"Meanwhile,":[178],"validity":[180],"practicability":[182],"have":[193],"been":[194],"verified":[195],"against":[196],"different":[197],"forward":[198],"velocities.":[199],"Originality/value":[200],"bionic":[205],"are":[209],"instructive":[210],"designing":[213],"actuating":[215],"real":[218],"robot.":[220]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}