{"id":"https://openalex.org/W4387120849","doi":"https://doi.org/10.1108/ir-12-2022-0321","title":"Bounding gait control of a parallel quadruped robot","display_name":"Bounding gait control of a parallel quadruped robot","publication_year":2023,"publication_date":"2023-09-28","ids":{"openalex":"https://openalex.org/W4387120849","doi":"https://doi.org/10.1108/ir-12-2022-0321"},"language":"en","primary_location":{"id":"doi:10.1108/ir-12-2022-0321","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2022-0321","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/A5100717008","display_name":"Hao Xu","orcid":"https://orcid.org/0000-0002-8149-4609"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xu Hao","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101900360","display_name":"Wei Lang","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lang Wei","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101118346","display_name":"Qiao Yue","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Qiao","raw_affiliation_strings":["Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102560896","display_name":"Shengzui Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shengzui Xu","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101419239","display_name":"Jian Liao","orcid":"https://orcid.org/0000-0001-6290-3326"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Bin Liao","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100587104","display_name":"Yu Xi","orcid":null},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Xi","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100735644","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0002-1227-6202"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wang Wei","raw_affiliation_strings":["School of Power and Mechanical Engineering, Wuhan University, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Power and Mechanical Engineering, Wuhan University, Wuhan, China","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100321249","display_name":"Zhi\u2010Wei Liu","orcid":"https://orcid.org/0000-0003-3005-1792"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhi-Wei Liu","raw_affiliation_strings":["School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China"],"affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence and Automation, Huazhong University of Science and Technology, Wuhan, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100717008"],"corresponding_institution_ids":["https://openalex.org/I37461747"],"apc_list":null,"apc_paid":null,"fwci":0.225,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.48387216,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"50","issue":"6","first_page":"888","last_page":"899"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.989799976348877,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/robot","display_name":"Robot","score":0.7909584045410156},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.7631337642669678},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6807140111923218},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6417964696884155},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6410219669342041},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5288760662078857},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5247288346290588},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4831475615501404},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4459399878978729},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4029800295829773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37763524055480957},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34750014543533325},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24749454855918884},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2192261517047882}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7909584045410156},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.7631337642669678},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6807140111923218},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6417964696884155},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6410219669342041},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5288760662078857},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5247288346290588},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4831475615501404},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4459399878978729},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4029800295829773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37763524055480957},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34750014543533325},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24749454855918884},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2192261517047882},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-12-2022-0321","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-12-2022-0321","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/8","score":0.5600000023841858,"display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W82840137","https://openalex.org/W1607633572","https://openalex.org/W1964277571","https://openalex.org/W1978102433","https://openalex.org/W2061063863","https://openalex.org/W2068541618","https://openalex.org/W2138557224","https://openalex.org/W2159220301","https://openalex.org/W2605101071","https://openalex.org/W2909331752","https://openalex.org/W2936716690","https://openalex.org/W2946224784","https://openalex.org/W2972810470","https://openalex.org/W3109689575","https://openalex.org/W3163101257","https://openalex.org/W3163911587","https://openalex.org/W3200809500","https://openalex.org/W4289443199"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4317826762","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W2741909783","https://openalex.org/W4210919297","https://openalex.org/W1532677580"],"abstract_inverted_index":{"Purpose":[0],"The":[1,39,121],"computing":[2],"power":[3],"of":[4,22,35,41,56,68,117,135,163],"the":[5,16,23,32,36,53,64,69,71,84,88,91,95,102,114,118,133,136,143,148,160,172,177,192],"legged":[6,37],"robot":[7,73,86,122,173],"is":[8,26,44,75],"not":[9],"enough":[10],"to":[11,45,63,77,109,113],"perform":[12],"high-frequency":[13,48,188],"updates":[14],"for":[15,52],"full-body":[17],"model":[18,74],"predictive":[19],"control":[20,50,204],"(MPC)":[21],"robot,":[24,70],"which":[25,195],"a":[27,47,57,105,138,187,197],"common":[28],"problem":[29],"encountered":[30],"in":[31,176],"gait":[33,55,66,179],"research":[34],"robot.":[38,60,120],"purpose":[40],"this":[42],"paper":[43,185],"propose":[46],"MPC":[49,164,189],"method":[51],"bounding":[54,65,178],"parallel":[58],"quadruped":[59,72,119],"Design/methodology/approach":[61],"According":[62],"characteristics":[67],"simplified":[76,193],"an":[78],"equivalent":[79],"plane":[80],"bipedal":[81],"model.":[82],"Under":[83],"biped":[85],"model,":[87,194],"forces":[89,112],"between":[90],"robot\u2019s":[92],"feet":[93,116],"and":[94,142,151,181,201],"ground":[96],"are":[97],"calculated":[98],"by":[99],"MPC.":[100],"Then,":[101],"authors":[103],"apply":[104],"proportional":[106],"differential":[107],"controller":[108,144,190],"distribute":[110],"these":[111],"four":[115],"video":[123],"can":[124],"be":[125,166],"seen":[126],"at":[127,168],"www.bilibili.com/video/BV1je4y1S7Rn":[128],".":[129],"Findings":[130],"To":[131],"verify":[132],"feasibility":[134],"controller,":[137],"prototype":[139,150],"was":[140,145,174],"made,":[141],"deployed":[146],"on":[147],"actual":[149],"then":[152],"fully":[153],"analyzed":[154],"through":[155],"experiments.":[156],"Experiments":[157],"show":[158],"that":[159],"update":[161],"frequency":[162],"could":[165],"stabilized":[167],"500":[169],"Hz":[170],"while":[171],"running":[175],"stably":[180],"efficiently.":[182],"Originality/value":[183],"This":[184],"proposes":[186],"under":[191],"has":[196],"higher":[198],"working":[199],"efficiency":[200],"more":[202],"stable":[203],"performance.":[205]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}