{"id":"https://openalex.org/W7133188159","doi":"https://doi.org/10.1109/access.2026.3669239","title":"Efficient Legged Robot Locomotion Through Optimized Gait Planning for Unstructured Planetary Terrain","display_name":"Efficient Legged Robot Locomotion Through Optimized Gait Planning for Unstructured Planetary Terrain","publication_year":2026,"publication_date":"2026-01-01","ids":{"openalex":"https://openalex.org/W7133188159","doi":"https://doi.org/10.1109/access.2026.3669239"},"language":"en","primary_location":{"id":"doi:10.1109/access.2026.3669239","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3669239","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.2026.3669239","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020558953","display_name":"Murugan Venkatesan","orcid":"https://orcid.org/0009-0003-1586-5760"},"institutions":[{"id":"https://openalex.org/I876193797","display_name":"Vellore Institute of Technology University","ror":"https://ror.org/00qzypv28","country_code":"IN","type":"education","lineage":["https://openalex.org/I876193797"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"Venkatesan Murugan","raw_affiliation_strings":["School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India","institution_ids":["https://openalex.org/I876193797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5121209492","display_name":"Sahaya Beni Prathiba","orcid":null},"institutions":[{"id":"https://openalex.org/I876193797","display_name":"Vellore Institute of Technology University","ror":"https://ror.org/00qzypv28","country_code":"IN","type":"education","lineage":["https://openalex.org/I876193797"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sahaya Beni Prathiba","raw_affiliation_strings":["Centre for Cyber Physical Systems, School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India"],"affiliations":[{"raw_affiliation_string":"Centre for Cyber Physical Systems, School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India","institution_ids":["https://openalex.org/I876193797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127870004","display_name":"Sherly Alphonse","orcid":null},"institutions":[{"id":"https://openalex.org/I876193797","display_name":"Vellore Institute of Technology University","ror":"https://ror.org/00qzypv28","country_code":"IN","type":"education","lineage":["https://openalex.org/I876193797"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Sherly Alphonse","raw_affiliation_strings":["School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India","institution_ids":["https://openalex.org/I876193797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127791522","display_name":"Prahadeep Radhakrishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I876193797","display_name":"Vellore Institute of Technology University","ror":"https://ror.org/00qzypv28","country_code":"IN","type":"education","lineage":["https://openalex.org/I876193797"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Prahadeep Radhakrishnan","raw_affiliation_strings":["School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Vellore Institute of Technology, Chennai, India","institution_ids":["https://openalex.org/I876193797"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5120919533","display_name":"Joel J. P. C. Rodrigues","orcid":null},"institutions":[{"id":"https://openalex.org/I3121799822","display_name":"Universidade Federal do Piau\u00ed","ror":"https://ror.org/00kwnx126","country_code":"BR","type":"education","lineage":["https://openalex.org/I3121799822"]}],"countries":["BR"],"is_corresponding":false,"raw_author_name":"Joel J. P. C. Rodrigues","raw_affiliation_strings":["Department of Electrical Engineering, Federal University of Piaui (UFPI), Teresina, Piaui, Brazil"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Federal University of Piaui (UFPI), Teresina, Piaui, Brazil","institution_ids":["https://openalex.org/I3121799822"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5020558953"],"corresponding_institution_ids":["https://openalex.org/I876193797"],"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":0.79859874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":null,"first_page":"34271","last_page":"34288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.6460999846458435,"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":0.6460999846458435,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.25760000944137573,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10868","display_name":"Soft Robotics and Applications","score":0.014299999922513962,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.8774999976158142},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.8019999861717224},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7645999789237976},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7580000162124634},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5985999703407288},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.5719000101089478},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5321999788284302},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5109999775886536},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.49959999322891235}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.8774999976158142},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8019999861717224},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7645999789237976},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7580000162124634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6934999823570251},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5985999703407288},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.5719000101089478},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5321999788284302},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5109999775886536},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.49959999322891235},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.482699990272522},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4481000006198883},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.446399986743927},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42170000076293945},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.3903000056743622},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.38370001316070557},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.37389999628067017},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.3474000096321106},{"id":"https://openalex.org/C177454536","wikidata":"https://www.wikidata.org/wiki/Q578290","display_name":"Emphasis (telecommunications)","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.3345000147819519},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31279999017715454},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3125999867916107},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.2854999899864197},{"id":"https://openalex.org/C45882903","wikidata":"https://www.wikidata.org/wiki/Q5042317","display_name":"Fuel efficiency","level":2,"score":0.2825999855995178},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.2797999978065491},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.27129998803138733},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.2685999870300293},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.26249998807907104},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.2538999915122986}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2026.3669239","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3669239","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:9eb81efd08374abfa6b4589ade9b0fe2","is_oa":true,"landing_page_url":"https://doaj.org/article/9eb81efd08374abfa6b4589ade9b0fe2","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 14, Pp 34271-34288 (2026)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2026.3669239","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2026.3669239","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":[{"id":"https://metadata.un.org/sdg/11","score":0.6628709435462952,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W2026251415","https://openalex.org/W2071666790","https://openalex.org/W2331758694","https://openalex.org/W3081666820","https://openalex.org/W3103876613","https://openalex.org/W4289314117","https://openalex.org/W4317581929","https://openalex.org/W4381056987","https://openalex.org/W4382810426","https://openalex.org/W4383100702","https://openalex.org/W4388237477","https://openalex.org/W4390457120","https://openalex.org/W4391407018","https://openalex.org/W4393144910","https://openalex.org/W4399040119","https://openalex.org/W4399626775","https://openalex.org/W4400680079","https://openalex.org/W4400905643","https://openalex.org/W4401366550","https://openalex.org/W4402216758","https://openalex.org/W4402485786","https://openalex.org/W4404688052","https://openalex.org/W4406948971","https://openalex.org/W4407098063","https://openalex.org/W4407574943","https://openalex.org/W4407736648","https://openalex.org/W4408029961","https://openalex.org/W4409663031","https://openalex.org/W4410640254","https://openalex.org/W4410986182","https://openalex.org/W4411055420","https://openalex.org/W4411550967","https://openalex.org/W4412076542","https://openalex.org/W4413318774","https://openalex.org/W4414110579","https://openalex.org/W4414153854"],"related_works":[],"abstract_inverted_index":{"Traditional":[0],"rovers":[1],"cannot":[2],"maneuver":[3],"easily":[4],"through":[5],"challenging":[6],"environments,":[7],"which":[8],"limits":[9],"their":[10,111],"movement":[11],"and":[12,35,40,66,86,113,135,140,175,213],"exploration":[13,106],"in":[14,56,104,128],"planetary":[15,108],"missions.":[16],"Legged":[17],"robots":[18,100],"are":[19,116,146],"potential":[20],"solutions":[21],"to":[22,31,45,48,92,101,216],"replace":[23],"them,":[24],"but":[25],"a":[26,53,69,172,177],"detailed":[27],"investigation":[28],"is":[29],"required":[30],"evaluate":[32],"the":[33,36,50,64,77,93,105,123,126,136,147,155,159,188,207],"mobility":[34,215],"system":[37,209],"efficiency.":[38],"Control":[39],"gait-generation":[41],"issues":[42],"will":[43,62],"have":[44],"be":[46,102],"tackled":[47],"enhance":[49],"locomotion":[51],"of":[52,68,95,107,125,130,138,150,154,170],"legged":[54,71],"robot":[55,72,161],"such":[57],"adverse":[58],"environments.":[59],"The":[60,89,152,184,203],"paper":[61,90],"discuss":[63],"design":[65],"development":[67],"Quadruped":[70],"with":[73,81,190,200],"emphasis":[74],"on":[75,132],"solving":[76],"most":[78],"critical":[79],"problems":[80],"mobility,":[82],"control,":[83],"gait":[84],"generation,":[85],"power":[87,143],"systems.":[88],"points":[91],"possibilities":[94],"multifunction":[96],"multi-modal":[97],"mobile":[98],"quadruped":[99,160],"used":[103],"terrains,":[109],"where":[110],"velocity":[112],"energy":[114],"consumption":[115],"more":[117,198],"advantageous":[118],"than":[119],"conventional":[120],"rovers.":[121],"Raising":[122],"state":[124],"art":[127],"morphologies":[129],"leggings":[131],"different":[133],"terrains":[134],"use":[137],"sustainable":[139],"efficient":[141,199],"on-board":[142],"generation":[144],"systems":[145],"key":[148],"areas":[149],"development.":[151],"findings":[153,204],"simulation":[156],"suggest":[157],"that":[158,187,206],"model":[162,185],"was":[163,168],"highly":[164],"versatile":[165],"as":[166],"it":[167],"capable":[169],"climbing":[171],"0.5-meter":[173],"obstacle":[174],"traversing":[176],"30-degree":[178],"slope":[179],"without":[180],"losing":[181],"its":[182],"balance.":[183],"showed":[186],"gaits":[189],"full":[191],"flight":[192],"phases,":[193],"like":[194],"running":[195],"trot/gait,":[196],"become":[197],"reduced":[201],"gravity.":[202],"confirm":[205],"proposed":[208],"can":[210],"afford":[211],"high-speed":[212],"energy-efficient":[214],"explore":[217],"planets.":[218]},"counts_by_year":[],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2026-03-03T00:00:00"}
