{"id":"https://openalex.org/W2980421746","doi":"https://doi.org/10.1108/ir-05-2019-0115","title":"Gait planning and control of quadruped crawling robot on a slope","display_name":"Gait planning and control of quadruped crawling robot on a slope","publication_year":2019,"publication_date":"2019-10-16","ids":{"openalex":"https://openalex.org/W2980421746","doi":"https://doi.org/10.1108/ir-05-2019-0115","mag":"2980421746"},"language":"en","primary_location":{"id":"doi:10.1108/ir-05-2019-0115","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2019-0115","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/A5100396078","display_name":"Peng Wang","orcid":"https://orcid.org/0000-0002-8113-1488"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Wang","raw_affiliation_strings":["School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069184998","display_name":"Chunxiao Song","orcid":"https://orcid.org/0000-0001-8646-8285"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunxiao Song","raw_affiliation_strings":["School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100339634","display_name":"Xiaoqiang Li","orcid":"https://orcid.org/0000-0002-7089-1633"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoqiang Li","raw_affiliation_strings":["School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051232947","display_name":"Peng Luo","orcid":"https://orcid.org/0000-0003-4667-3975"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Luo","raw_affiliation_strings":["School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Power Engineering, Key Laboratory of Advanced Manufacturing and Intelligent Technology, Ministry of Education, Harbin University of Science and Technology, Harbin, China","institution_ids":["https://openalex.org/I100188998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I100188998"],"apc_list":null,"apc_paid":null,"fwci":0.2904,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.55385236,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"47","issue":"1","first_page":"12","last_page":"22"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9962000250816345,"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":0.9961000084877014,"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/crawling","display_name":"Crawling","score":0.8100202679634094},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6600906252861023},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6330463290214539},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5116201043128967},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5088505744934082},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47300416231155396},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4477635324001312},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3948577642440796},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.27071139216423035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16368916630744934}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.8100202679634094},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6600906252861023},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6330463290214539},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5116201043128967},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5088505744934082},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47300416231155396},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4477635324001312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3948577642440796},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.27071139216423035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16368916630744934},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-05-2019-0115","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2019-0115","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":[{"id":"https://metadata.un.org/sdg/11","score":0.7799999713897705,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1965487488","https://openalex.org/W2025886595","https://openalex.org/W2039509751","https://openalex.org/W2185565669","https://openalex.org/W2316954215","https://openalex.org/W2385188537","https://openalex.org/W2389150340","https://openalex.org/W2748455436","https://openalex.org/W2790631678","https://openalex.org/W2900862319"],"related_works":["https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W3156164993","https://openalex.org/W2385015894","https://openalex.org/W2171573941","https://openalex.org/W4317382653","https://openalex.org/W3119324922","https://openalex.org/W4390135167","https://openalex.org/W2968643431"],"abstract_inverted_index":{"Purpose":[0],"The":[1,20,67,144,156,190],"gait":[2,74],"planning":[3],"and":[4,37,123,141,172,187,202,206],"control":[5,21,25,32,40,64,88,102,120,128,174],"of":[6,13,50,139,164,175,198],"quadruped":[7,51,157],"crawling":[8,52,73,158],"robot":[9,15,53,81,159],"affect":[10],"the":[11,14,23,27,30,34,38,42,47,70,76,80,84,92,97,99,105,112,115,117,169,178,212],"stability":[12],"walking":[16],"on":[17,54,104,130],"a":[18,55,62,124,148],"slope.":[19],"includes":[22],"position":[24,101],"in":[26,33,41,153,168,177,193],"swing":[28,170],"phase,":[29],"force":[31,140,176],"support":[35],"phase":[36],"switching":[39,87,127,138,163],"force/position":[43],"switching.":[44],"To":[45],"improve":[46],"passing":[48],"ability":[49],"slope,":[56],"this":[57,194],"paper":[58,195],"aims":[59],"to":[60,135,210],"propose":[61],"soft":[63,173],"strategy.":[65],"Design/methodology/approach":[66],"strategy":[68],"adopts":[69],"statically":[71],"stable":[72,151],"as":[75],"main":[77],"gait.":[78],"As":[79],"moves":[82],"forward,":[83],"position/force":[85],"section":[86],"is":[89,109,121,133,183],"adopted.":[90],"When":[91,111],"foot":[93,113],"does":[94],"not":[95],"touch":[96],"ground,":[98,116],"joint":[100],"based":[103,129],"variable":[106],"speed":[107],"PID":[108],"performed.":[110],"touches":[114],"position-based":[118],"impedance":[119],"performed,":[122],"fuzzy":[125],"multi-model":[126],"friction":[131],"compensation":[132],"proposed":[134,145],"achieve":[136],"smooth":[137,162],"position.":[142],"Findings":[143],"method":[146,191],"offers":[147],"solution":[149],"for":[150],"passage":[152],"slope":[154],"environment.":[155],"can":[160],"realize":[161],"force/position,":[165],"precise":[166],"positioning":[167],"process":[171],"supporting":[179],"phase.":[180],"This":[181],"fact":[182],"verified":[184],"by":[185],"simulation":[186],"test.":[188],"Originality/value":[189],"presented":[192],"takes":[196],"advantage":[197],"minimal":[199,203],"tracking":[200],"errors":[201],"jitters.":[204],"Simulations":[205],"tests":[207],"were":[208],"performed":[209],"evaluate":[211],"performance.":[213]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
