{"id":"https://openalex.org/W2897319003","doi":"https://doi.org/10.1108/ir-06-2018-0119","title":"Turning strategies for the bounding quadruped robot with an active spine","display_name":"Turning strategies for the bounding quadruped robot with an active spine","publication_year":2018,"publication_date":"2018-10-16","ids":{"openalex":"https://openalex.org/W2897319003","doi":"https://doi.org/10.1108/ir-06-2018-0119","mag":"2897319003"},"language":"en","primary_location":{"id":"doi:10.1108/ir-06-2018-0119","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2018-0119","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/A5065399157","display_name":"Zhong Wei","orcid":"https://orcid.org/0000-0003-3815-944X"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Wei","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007631634","display_name":"Guangming Song","orcid":"https://orcid.org/0000-0002-6362-4043"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangming Song","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102286050","display_name":"Huiyu Sun","orcid":"https://orcid.org/0009-0009-3424-3100"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyu Sun","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008215005","display_name":"Qien Qi","orcid":"https://orcid.org/0000-0003-0080-9355"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qien Qi","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087186401","display_name":"Yuan Gao","orcid":"https://orcid.org/0000-0002-7672-7121"},"institutions":[{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Gao","raw_affiliation_strings":["Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101847918","display_name":"Guifang Qiao","orcid":"https://orcid.org/0000-0001-7468-9988"},"institutions":[{"id":"https://openalex.org/I2799736854","display_name":"Nanjing Institute of Technology","ror":"https://ror.org/00n6txq60","country_code":"CN","type":"education","lineage":["https://openalex.org/I2799736854"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guifang Qiao","raw_affiliation_strings":["Nanjing Institute of Technology, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanjing Institute of Technology, Nanjing, China","institution_ids":["https://openalex.org/I2799736854"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2164,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.5248686,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"45","issue":"5","first_page":"657","last_page":"668"},"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/T12249","display_name":"Veterinary Orthopedics and Neurology","score":0.9664000272750854,"subfield":{"id":"https://openalex.org/subfields/3404","display_name":"Small Animals"},"field":{"id":"https://openalex.org/fields/34","display_name":"Veterinary"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9484999775886536,"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/bounding-overwatch","display_name":"Bounding overwatch","score":0.59100741147995},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5794382691383362},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5545300841331482},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5455500483512878},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.460345983505249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4602377414703369},{"id":"https://openalex.org/keywords/oscillation","display_name":"Oscillation (cell signaling)","score":0.4568009078502655},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.4454421401023865},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3676701784133911},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2724088728427887},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14852717518806458},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08963325619697571}],"concepts":[{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.59100741147995},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5794382691383362},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5545300841331482},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5455500483512878},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.460345983505249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4602377414703369},{"id":"https://openalex.org/C2778439541","wikidata":"https://www.wikidata.org/wiki/Q7106412","display_name":"Oscillation (cell signaling)","level":2,"score":0.4568009078502655},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.4454421401023865},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3676701784133911},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2724088728427887},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14852717518806458},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08963325619697571},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","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-06-2018-0119","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-06-2018-0119","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":[{"score":0.44999998807907104,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W1607633572","https://openalex.org/W1666253975","https://openalex.org/W1927753533","https://openalex.org/W1977505238","https://openalex.org/W2006641041","https://openalex.org/W2008373816","https://openalex.org/W2015275088","https://openalex.org/W2031352735","https://openalex.org/W2041285659","https://openalex.org/W2043709302","https://openalex.org/W2059242862","https://openalex.org/W2071465954","https://openalex.org/W2077676902","https://openalex.org/W2087591930","https://openalex.org/W2094496385","https://openalex.org/W2107955862","https://openalex.org/W2109609391","https://openalex.org/W2138012722","https://openalex.org/W2138557224","https://openalex.org/W2156355884","https://openalex.org/W2160951293","https://openalex.org/W2220061838","https://openalex.org/W2290454322","https://openalex.org/W2342157807","https://openalex.org/W2420347861","https://openalex.org/W2522115652","https://openalex.org/W2582150358","https://openalex.org/W2611350195","https://openalex.org/W2623878612","https://openalex.org/W2694031977","https://openalex.org/W2792472204","https://openalex.org/W3104537609","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2379128895","https://openalex.org/W3166204570","https://openalex.org/W3121246613","https://openalex.org/W2132137594","https://openalex.org/W2798482732","https://openalex.org/W2004735650","https://openalex.org/W1551019254","https://openalex.org/W350499458","https://openalex.org/W2062170304","https://openalex.org/W97715426"],"abstract_inverted_index":{"Purpose":[0],"This":[1,283],"paper":[2],"aims":[3],"to":[4,73,123,148],"study":[5],"the":[6,10,20,24,27,32,36,40,43,51,57,61,64,75,78,85,92,95,98,111,118,125,129,135,140,164,173,176,181,191,203,207,210,213,218,224,236,244,253,259,263,267,271,277,288,293],"turning":[7,28,158,219,241,272],"strategies":[8,159,187,242],"for":[9,243,287],"bounding":[11,33,197,214,237,245,255],"quadruped":[12,246,295],"robot":[13,152,247,281],"with":[14,42,56,103,169,258,276],"an":[15],"active":[16],"spine":[17,25,41,52,67,99,174,208,264],"and":[18,66,77,81,107,110,114,137,166,179,223,232,239,280,290],"explore":[19],"significant":[21],"role":[22],"of":[23,39,63,84,94,117,134,212,235,252,262,292],"in":[26,54,132,139,175,266],"locomotion.":[29],"Design/methodology/approach":[30],"Firstly,":[31],"gait":[34,238],"combining":[35,180],"pitch":[37],"motion":[38,45,265],"leg":[44,119],"is":[46,216,221,227,274],"presented.":[47],"In":[48],"this":[49],"gait,":[50,97,256],"moves":[53],"phase":[55],"front":[58],"legs.":[59],"All":[60],"joints":[62,86,100,120],"legs":[65,168],"are":[68,101,121,145,160,188,248],"controlled":[69],"by":[70],"cosine":[71],"signals":[72,144],"simplify":[74],"control,":[76],"initial":[79,105,112],"position":[80,113],"oscillation":[82,108,115],"amplitude":[83,116],"can":[87,199],"be":[88,200,285],"tuned.":[89],"To":[90],"verify":[91],"effectiveness":[93,251],"proposed":[96,204,254],"set":[102],"different":[104,157,170],"positions":[106],"amplitudes,":[109],"tuned":[122],"make":[124],"virtual":[126],"model":[127],"do":[128],"best":[130],"locomotion":[131,198,215,273],"terms":[133],"speed":[136,211],"stability":[138],"simulation.":[141],"The":[142,195,250],"control":[143,149],"also":[146],"used":[147],"a":[150],"real":[151,192],"called":[153],"Transleg.":[154],"Then,":[155],"three":[156,240],"proposed,":[161],"including":[162],"driving":[163],"left":[165],"right":[167],"strides,":[171],"swaying":[172],"yaw":[177,268],"direction":[178,269],"above":[182],"two":[183],"methods.":[184],"Finally,":[185],"these":[186],"tested":[189],"on":[190,270],"robot.":[193],"Findings":[194],"stable":[196],"achieved":[201],"using":[202],"gait.":[205],"With":[206],"motion,":[209],"increased;":[217],"radius":[220],"reduced;":[222],"angular":[225],"velocity":[226],"increased.":[228],"Originality/value":[229],"A":[230],"simple":[231],"flexible":[233],"planning":[234],"proposed.":[249],"along":[257],"beneficial":[260],"effect":[261],"demonstrated":[275],"computer":[278],"simulations":[279],"experiments.":[282],"will":[284],"instructive":[286],"designing":[289],"actuating":[291],"other":[294],"robots.":[296]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
