{"id":"https://openalex.org/W4417252136","doi":"https://doi.org/10.1109/access.2025.3643360","title":"Development and Evaluation of a Quadruped Leg System With PID and Computed Torque Control: From Real-World Actuation to Simulated Dynamics","display_name":"Development and Evaluation of a Quadruped Leg System With PID and Computed Torque Control: From Real-World Actuation to Simulated Dynamics","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4417252136","doi":"https://doi.org/10.1109/access.2025.3643360"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3643360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3643360","pdf_url":null,"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://doi.org/10.1109/access.2025.3643360","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008871230","display_name":"Chanin Joochim","orcid":"https://orcid.org/0009-0006-2627-7245"},"institutions":[{"id":"https://openalex.org/I82828225","display_name":"King Mongkut's University of Technology North Bangkok","ror":"https://ror.org/04fy6jb97","country_code":"TH","type":"education","lineage":["https://openalex.org/I82828225"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Chanin Joochim","raw_affiliation_strings":["College of Industrial Technology, Division of Mechatronics Engineering Technology, Department of Mechanical Engineering Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","Department of Mechatronics Engineering, Faculty of Engineering, College of Industrial Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand"],"raw_orcid":"https://orcid.org/0009-0006-2627-7245","affiliations":[{"raw_affiliation_string":"College of Industrial Technology, Division of Mechatronics Engineering Technology, Department of Mechanical Engineering Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","institution_ids":["https://openalex.org/I82828225"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Faculty of Engineering, College of Industrial Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","institution_ids":["https://openalex.org/I82828225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120776475","display_name":"Theerachote Muangjamnong","orcid":null},"institutions":[{"id":"https://openalex.org/I82828225","display_name":"King Mongkut's University of Technology North Bangkok","ror":"https://ror.org/04fy6jb97","country_code":"TH","type":"education","lineage":["https://openalex.org/I82828225"]}],"countries":["TH"],"is_corresponding":false,"raw_author_name":"Theerachote Muangjamnong","raw_affiliation_strings":["College of Industrial Technology, Division of Mechatronics Engineering Technology, Department of Mechanical Engineering Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","Department of Mechatronics Engineering, Faculty of Engineering, College of Industrial Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Industrial Technology, Division of Mechatronics Engineering Technology, Department of Mechanical Engineering Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","institution_ids":["https://openalex.org/I82828225"]},{"raw_affiliation_string":"Department of Mechatronics Engineering, Faculty of Engineering, College of Industrial Technology, King Mongkut’s University of Technology North Bangkok (KMUTNB), Bangkok, Thailand","institution_ids":["https://openalex.org/I82828225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046233168","display_name":"Alisa Kunapinun","orcid":"https://orcid.org/0000-0002-5804-6592"},"institutions":[{"id":"https://openalex.org/I63772739","display_name":"Florida Atlantic University","ror":"https://ror.org/05p8w6387","country_code":"US","type":"education","lineage":["https://openalex.org/I63772739"]},{"id":"https://openalex.org/I734295","display_name":"Harbor Branch Oceanographic Institute","ror":"https://ror.org/05gzqyx59","country_code":"US","type":"nonprofit","lineage":["https://openalex.org/I63772739","https://openalex.org/I734295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alisa Kunapinun","raw_affiliation_strings":["Harbor Branch Oceanographic Institute, Florida Atlantic University, Fort Pierce, FL, USA"],"raw_orcid":"https://orcid.org/0000-0002-5804-6592","affiliations":[{"raw_affiliation_string":"Harbor Branch Oceanographic Institute, Florida Atlantic University, Fort Pierce, FL, USA","institution_ids":["https://openalex.org/I734295","https://openalex.org/I63772739"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32860517,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"13","issue":null,"first_page":"210290","last_page":"210306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9843000173568726,"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":0.9843000173568726,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.003100000089034438,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.0017000000225380063,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/testbed","display_name":"Testbed","score":0.6718999743461609},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6129000186920166},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5939000248908997},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.5827000141143799},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5175999999046326},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46810001134872437},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.4575999975204468},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.44369998574256897},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4101000130176544}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6919000148773193},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.6718999743461609},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6129000186920166},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5939000248908997},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.5827000141143799},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5175999999046326},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46810001134872437},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.4575999975204468},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.44369998574256897},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4101000130176544},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.39430001378059387},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3806999921798706},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.37720000743865967},{"id":"https://openalex.org/C2779096738","wikidata":"https://www.wikidata.org/wiki/Q7394773","display_name":"STM32","level":3,"score":0.37439998984336853},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.32989999651908875},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.32120001316070557},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.3172999918460846},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.31380000710487366},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.31119999289512634},{"id":"https://openalex.org/C2776542497","wikidata":"https://www.wikidata.org/wiki/Q5266672","display_name":"Development (topology)","level":2,"score":0.2890999913215637},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2644999921321869},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.26100000739097595},{"id":"https://openalex.org/C206736587","wikidata":"https://www.wikidata.org/wiki/Q1061251","display_name":"Magnetic levitation","level":3,"score":0.2554999887943268}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3643360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3643360","pdf_url":null,"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:9275ea27b5f7488eb71514def7422a5a","is_oa":true,"landing_page_url":"https://doaj.org/article/9275ea27b5f7488eb71514def7422a5a","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 13, Pp 210290-210306 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3643360","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3643360","pdf_url":null,"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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,76,87,100,137,143],"design,":[4],"modeling,":[5],"and":[6,18,42,65,71,91,110,151,160,172,184],"evaluation":[7],"of":[8,78,140],"a":[9,21,30,49,81,155,170],"planar":[10],"quadruped":[11,188],"leg":[12,32,89],"system":[13,28],"built":[14],"from":[15],"low-cost":[16,164],"hardware":[17,145,161,182],"intended":[19],"as":[20],"testbed":[22],"for":[23,175],"control":[24,158],"algorithm":[25],"development.":[26],"The":[27,166],"features":[29],"2-DOF":[31],"actuated":[33],"by":[34,148],"brushless":[35],"DC":[36],"(BLDC)":[37],"motors":[38],"with":[39],"magnetic":[40],"encoders,":[41],"is":[43,63,84,97,146],"controlled":[44],"in":[45,120,163],"real":[46],"time":[47],"via":[48],"custom":[50],"embedded":[51],"controller":[52,62],"based":[53],"on":[54,142],"an":[55],"STM32":[56],"microcontroller.":[57],"A":[58],"classical":[59],"Proportional\u2013Integral\u2013Derivative":[60],"(PID)":[61],"implemented":[64,98],"experimentally":[66],"validated":[67],"under":[68],"both":[69],"airborne":[70],"payload-bearing":[72],"conditions.":[73],"To":[74],"explore":[75],"potential":[77],"model-based":[79],"control,":[80],"simulation":[82],"environment":[83],"developed":[85],"using":[86,99],"same":[88],"geometry":[90],"dynamics.":[92],"Computed":[93],"Torque":[94],"Control":[95],"(CTC)":[96],"derived":[101],"inverse":[102],"dynamics":[103],"model,":[104],"including":[105,178],"inertia":[106],"matrix,":[107],"Coriolis":[108],"terms,":[109],"gravity":[111],"compensation.":[112],"Simulation":[113],"results":[114],"show":[115],"that":[116],"CTC":[117,141,180],"outperforms":[118],"PID":[119],"trajectory":[121],"tracking":[122],"when":[123,131],"external":[124],"disturbances":[125],"or":[126],"payload":[127],"variations":[128],"occur,":[129],"especially":[130],"mass-aware":[132],"adjustments":[133],"are":[134],"included.":[135],"However,":[136],"real-time":[138,179],"implementation":[139],"current":[144],"limited":[147],"response":[149],"latency":[150],"actuator":[152],"constraints,":[153],"highlighting":[154],"trade-off":[156],"between":[157],"complexity":[159],"feasibility":[162],"systems.":[165],"proposed":[167],"setup":[168],"offers":[169],"reproducible":[171],"extensible":[173],"platform":[174],"future":[176],"work,":[177],"deployment,":[181],"upgrades,":[183],"integration":[185],"into":[186],"full":[187],"locomotion.":[189]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-12-11T00:00:00"}