{"id":"https://openalex.org/W2994850002","doi":"https://doi.org/10.1109/access.2019.2958320","title":"Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain","display_name":"Static Gait Planning Method for Quadruped Robot Walking on Unknown Rough Terrain","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2994850002","doi":"https://doi.org/10.1109/access.2019.2958320","mag":"2994850002"},"language":"en","primary_location":{"id":"doi:10.1109/access.2019.2958320","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958320","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928610.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928610.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101743096","display_name":"Shuaishuai Zhang","orcid":"https://orcid.org/0000-0002-5652-305X"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuaishuai Zhang","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5652-305X","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050952392","display_name":"Ming Liu","orcid":"https://orcid.org/0000-0002-0666-3564"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ming Liu","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China","School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-0666-3564","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China","institution_ids":["https://openalex.org/I80143920"]},{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103068991","display_name":"Yanfang Yin","orcid":"https://orcid.org/0000-0003-3510-3862"},"institutions":[{"id":"https://openalex.org/I80143920","display_name":"Shandong University of Science and Technology","ror":"https://ror.org/04gtjhw98","country_code":"CN","type":"education","lineage":["https://openalex.org/I80143920"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfang Yin","raw_affiliation_strings":["Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-3510-3862","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Information Technology, Shandong University of Science and Technology, Jinan, China","institution_ids":["https://openalex.org/I80143920"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewen Rong","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-3283-5347","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-5906-5074","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011385409","display_name":"Zisen Hua","orcid":"https://orcid.org/0000-0002-2312-1564"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zisen Hua","raw_affiliation_strings":["School of Control Science and Engineering, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-2312-1564","affiliations":[{"raw_affiliation_string":"School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":2075,"currency":"USD","value_usd":2075},"apc_paid":{"value":2075,"currency":"USD","value_usd":2075},"fwci":0.9185,"has_fulltext":true,"cited_by_count":32,"citation_normalized_percentile":{"value":0.71378793,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"177651","last_page":"177660"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9666000008583069,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9485999941825867,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.8336623907089233},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8231728076934814},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7067955732345581},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6771484017372131},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5703308582305908},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5323161482810974},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5023746490478516},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5008912086486816},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45810839533805847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4444946050643921},{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.4438779652118683},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4037461578845978},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39989495277404785},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3860979974269867},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08135592937469482}],"concepts":[{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.8336623907089233},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8231728076934814},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7067955732345581},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6771484017372131},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5703308582305908},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5323161482810974},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5023746490478516},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5008912086486816},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45810839533805847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4444946050643921},{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.4438779652118683},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4037461578845978},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39989495277404785},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3860979974269867},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08135592937469482},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2019.2958320","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958320","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928610.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:e4ca7e524c2545ff9023e617048b41c6","is_oa":true,"landing_page_url":"https://doaj.org/article/e4ca7e524c2545ff9023e617048b41c6","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 7, Pp 177651-177660 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2019.2958320","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2019.2958320","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08928610.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G2731165767","display_name":null,"funder_award_id":"U1613223","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2885877334","display_name":null,"funder_award_id":"ZR2018ZC0437","funder_id":"https://openalex.org/F4320324174","funder_display_name":"Natural Science Foundation of Shandong Province"},{"id":"https://openalex.org/G7579035824","display_name":null,"funder_award_id":"61703243","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2994850002.pdf","grobid_xml":"https://content.openalex.org/works/W2994850002.grobid-xml"},"referenced_works_count":24,"referenced_works":["https://openalex.org/W582091997","https://openalex.org/W1592294156","https://openalex.org/W1965603550","https://openalex.org/W1972327710","https://openalex.org/W1972576465","https://openalex.org/W2005805981","https://openalex.org/W2027809320","https://openalex.org/W2027892732","https://openalex.org/W2063190921","https://openalex.org/W2065238107","https://openalex.org/W2067306378","https://openalex.org/W2078940713","https://openalex.org/W2082264446","https://openalex.org/W2091829036","https://openalex.org/W2144587497","https://openalex.org/W2145705329","https://openalex.org/W2154139861","https://openalex.org/W2154871086","https://openalex.org/W2159924604","https://openalex.org/W2166870098","https://openalex.org/W2536431081","https://openalex.org/W2788200022","https://openalex.org/W3099855898","https://openalex.org/W4253729359"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W2357124094","https://openalex.org/W804621235","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W1561809125","https://openalex.org/W2070040999"],"abstract_inverted_index":{"To":[0],"enable":[1],"quadruped":[2,44,91,134],"robot":[3,45,58,135],"to":[4,34,42,85,118],"walk":[5],"through":[6],"unknown":[7,147],"rough":[8,148],"terrains":[9,149],"without":[10,51],"any":[11],"machine":[12,54],"vision":[13,55],"system,":[14],"a":[15,93],"continuous":[16],"static":[17,130,140],"gait":[18,131,141],"planning":[19,73,101],"method":[20],"is":[21,40,96,116],"proposed":[22,70,129,164],"in":[23,98,142],"this":[24],"paper.":[25],"A":[26],"algorithm":[27],"for":[28],"on-line":[29],"terrain":[30,50,88,113,121],"complexity":[31,114],"evaluation":[32],"according":[33],"touchdown":[35],"times":[36],"of":[37,49,78,90,108,162],"swing":[38],"feet":[39],"presented":[41],"make":[43],"obtain":[46,60],"the":[47,69,87,99,104,109,128,158,163],"information":[48],"relying":[52],"on":[53],"system.":[56],"Quadruped":[57],"can":[59,80,136],"enough":[61,151],"stability":[62,152],"margin":[63],"during":[64],"walking":[65],"process":[66],"by":[67],"using":[68],"body":[71,79,100],"trajectory":[72],"method,":[74,102,133],"and":[75,103,112,123,144,160],"motion":[76],"continuity":[77],"be":[81],"guaranteed.":[82],"In":[83],"order":[84],"improve":[86,120],"adaptability":[89,122],"robot,":[92],"tunable":[94,110],"parameter":[95,111],"set":[97],"relationship":[105],"between":[106],"value":[107],"estimation":[115],"given":[117],"further":[119],"energy":[124],"utilization":[125],"rate.":[126],"With":[127],"generation":[132],"autonomous":[137],"plan":[138],"its":[139],"real-time":[143],"travel":[145],"over":[146],"with":[150],"margin.":[153],"The":[154],"simulation":[155],"results":[156],"show":[157],"correctness":[159],"effectiveness":[161],"method.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
