{"id":"https://openalex.org/W3049206078","doi":"https://doi.org/10.1109/access.2020.3016312","title":"A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains","display_name":"A Novel Dynamic Locomotion Control Method for Quadruped Robots Running on Rough Terrains","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3049206078","doi":"https://doi.org/10.1109/access.2020.3016312","mag":"3049206078"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3016312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3016312","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09166497.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/ielx7/6287639/8948470/09166497.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090134604","display_name":"Chao Ding","orcid":"https://orcid.org/0000-0002-4699-6582"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":true,"raw_author_name":"Chao Ding","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087340707","display_name":"Lelai Zhou","orcid":"https://orcid.org/0000-0003-3308-870X"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":"Lelai Zhou","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"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/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":["Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"government","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"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":["Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090134604"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I154099455"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.5225,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.61622865,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"150435","last_page":"150446"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9771000146865845,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9688000082969666,"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/control-theory","display_name":"Control theory (sociology)","score":0.7151226997375488},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7139286994934082},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6881968975067139},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6859338283538818},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6112106442451477},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5750287771224976},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.558580756187439},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47363486886024475},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.44681787490844727},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40508419275283813},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2713736891746521},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26080161333084106},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.24539518356323242},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2022632658481598},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18587905168533325}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7151226997375488},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7139286994934082},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6881968975067139},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6859338283538818},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6112106442451477},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5750287771224976},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.558580756187439},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47363486886024475},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.44681787490844727},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40508419275283813},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2713736891746521},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26080161333084106},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.24539518356323242},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2022632658481598},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18587905168533325},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3016312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3016312","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09166497.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:474254aec3d44ee185eeabd64d74aaf0","is_oa":true,"landing_page_url":"https://doaj.org/article/474254aec3d44ee185eeabd64d74aaf0","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 8, Pp 150435-150446 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3016312","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3016312","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09166497.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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5600000023841858}],"awards":[{"id":"https://openalex.org/G1023919524","display_name":null,"funder_award_id":", Grant","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1121271761","display_name":null,"funder_award_id":"Program","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2339313472","display_name":null,"funder_award_id":"91948201","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2357624832","display_name":null,"funder_award_id":"2017YFC0806505","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"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/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3435950671","display_name":null,"funder_award_id":"and Gr","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G466649759","display_name":null,"funder_award_id":"2017Y","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5053610798","display_name":null,"funder_award_id":"2017YFC","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6177897717","display_name":null,"funder_award_id":"61973191","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8340078520","display_name":null,"funder_award_id":"2017YF","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8758066315","display_name":null,"funder_award_id":"6197319","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/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3049206078.pdf","grobid_xml":"https://content.openalex.org/works/W3049206078.grobid-xml"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1985875375","https://openalex.org/W1988135991","https://openalex.org/W2020244468","https://openalex.org/W2054186704","https://openalex.org/W2081469022","https://openalex.org/W2086587468","https://openalex.org/W2091829036","https://openalex.org/W2094444216","https://openalex.org/W2103427741","https://openalex.org/W2127000383","https://openalex.org/W2154139861","https://openalex.org/W2161427949","https://openalex.org/W2517959777","https://openalex.org/W2739146943","https://openalex.org/W2787465681","https://openalex.org/W2790603666","https://openalex.org/W2790631678","https://openalex.org/W2897327449","https://openalex.org/W2901286613","https://openalex.org/W2901508293","https://openalex.org/W2909331752","https://openalex.org/W2911087563","https://openalex.org/W2924143887","https://openalex.org/W2926261701","https://openalex.org/W2966048237","https://openalex.org/W2994850002","https://openalex.org/W3005600945","https://openalex.org/W3022993269"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W34871393","https://openalex.org/W4206135463","https://openalex.org/W1486689224","https://openalex.org/W2094697992","https://openalex.org/W2570818861","https://openalex.org/W2085374841","https://openalex.org/W2329529557"],"abstract_inverted_index":{"Quadruped":[0],"robots":[1,50],"have":[2],"excellent":[3],"application":[4],"prospects":[5],"whereas":[6],"the":[7,57,62,73,77,80,86,91,108,121,127,133,148,157,161,172],"locomotion":[8],"control":[9,46,60],"of":[10,23,35,76,85,107,120],"them":[11],"on":[12,52,72],"rough":[13,53,164],"terrains":[14,54,165],"is":[15,88,111,137],"still":[16],"a":[17,44],"challenging":[18],"problem,":[19],"especially":[20],"for":[21,48],"those":[22],"large":[24],"scales.":[25],"The":[26,83,104],"existing":[27],"methods":[28],"are":[29,68,124,145],"either":[30],"too":[31],"complicated":[32],"or":[33],"lack":[34],"accuracies":[36],"due":[37],"to":[38,139,163,168],"assumptions":[39],"used.":[40],"This":[41],"paper":[42],"presents":[43],"novel":[45],"algorithm":[47],"quadruped":[49,158],"running":[51],"inspired":[55],"by":[56,113,126,147],"virtual":[58,128],"model":[59,63,75,130],"and":[61,101,166],"predictive":[64],"control.":[65],"State":[66],"recursions":[67],"carried":[69],"out":[70],"based":[71,150],"dynamic":[74],"trunk":[78],"during":[79],"standing":[81,109],"phase.":[82],"modeling":[84],"body":[87],"implemented":[89],"in":[90],"self-defined":[92],"motion":[93],"reference":[94],"frame":[95],"that":[96,131,156],"avoids":[97],"global":[98],"state":[99,117,151],"estimations":[100],"accumulative":[102],"errors.":[103],"force":[105],"distribution":[106],"legs":[110,123],"realized":[112],"quadratic":[114],"optimization":[115],"involving":[116],"predictions.":[118],"Forces":[119],"swing":[122],"calculated":[125],"spring-damping":[129],"follow":[132],"desired":[134],"trajectory":[135],"which":[136],"robust":[138],"external":[140],"disturbances.":[141],"These":[142],"two":[143],"sub-controllers":[144],"combined":[146],"time-force":[149],"machine.":[152],"Simulation":[153],"results":[154],"show":[155],"robot":[159],"obtains":[160],"adaptability":[162],"robustness":[167],"lateral":[169],"pushes":[170],"with":[171],"proposed":[173],"method.":[174]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2026-04-13T07:58:08.660418","created_date":"2025-10-10T00:00:00"}