{"id":"https://openalex.org/W2078106529","doi":"https://doi.org/10.1109/afrcon.2013.6757658","title":"The development of a remote controlled, omnidirectional six legged walker with feedback","display_name":"The development of a remote controlled, omnidirectional six legged walker with feedback","publication_year":2013,"publication_date":"2013-09-01","ids":{"openalex":"https://openalex.org/W2078106529","doi":"https://doi.org/10.1109/afrcon.2013.6757658","mag":"2078106529"},"language":"en","primary_location":{"id":"doi:10.1109/afrcon.2013.6757658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/afrcon.2013.6757658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 Africon","raw_type":"proceedings-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/A5112078054","display_name":"Tracy Booysen","orcid":null},"institutions":[{"id":"https://openalex.org/I157614274","display_name":"University of Cape Town","ror":"https://ror.org/03p74gp79","country_code":"ZA","type":"education","lineage":["https://openalex.org/I157614274"]}],"countries":["ZA"],"is_corresponding":true,"raw_author_name":"Tracy Booysen","raw_affiliation_strings":["Robotics and Agents Research Lab, University of Cape Town, Cape Town, South Africa","Robot. & Agents Res. Lab., Univ. of Cape Town, Cape Town, South Africa"],"affiliations":[{"raw_affiliation_string":"Robotics and Agents Research Lab, University of Cape Town, Cape Town, South Africa","institution_ids":["https://openalex.org/I157614274"]},{"raw_affiliation_string":"Robot. & Agents Res. Lab., Univ. of Cape Town, Cape Town, South Africa","institution_ids":["https://openalex.org/I157614274"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028263358","display_name":"Stephen Marais","orcid":null},"institutions":[{"id":"https://openalex.org/I157614274","display_name":"University of Cape Town","ror":"https://ror.org/03p74gp79","country_code":"ZA","type":"education","lineage":["https://openalex.org/I157614274"]}],"countries":["ZA"],"is_corresponding":false,"raw_author_name":"Stephen Marais","raw_affiliation_strings":["Robotics and Agents Research Lab, University of Cape Town, Cape Town, South Africa","Robot. & Agents Res. Lab., Univ. of Cape Town, Cape Town, South Africa"],"affiliations":[{"raw_affiliation_string":"Robotics and Agents Research Lab, University of Cape Town, Cape Town, South Africa","institution_ids":["https://openalex.org/I157614274"]},{"raw_affiliation_string":"Robot. & Agents Res. Lab., Univ. of Cape Town, Cape Town, South Africa","institution_ids":["https://openalex.org/I157614274"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5112078054"],"corresponding_institution_ids":["https://openalex.org/I157614274"],"apc_list":null,"apc_paid":null,"fwci":0.3997,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.65196735,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.9919000267982483,"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":0.954800009727478,"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/hexapod","display_name":"Hexapod","score":0.8793021440505981},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7071288824081421},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.6605886220932007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6078222990036011},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6031662225723267},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.595467746257782},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5523899793624878},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.5047119855880737},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2670632600784302},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.17170017957687378},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1531752049922943}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8793021440505981},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7071288824081421},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.6605886220932007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6078222990036011},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6031662225723267},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.595467746257782},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5523899793624878},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.5047119855880737},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2670632600784302},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.17170017957687378},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1531752049922943},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/afrcon.2013.6757658","is_oa":false,"landing_page_url":"https://doi.org/10.1109/afrcon.2013.6757658","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 Africon","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1508525011","https://openalex.org/W1822001265","https://openalex.org/W2092690781","https://openalex.org/W2097042906","https://openalex.org/W2107955862","https://openalex.org/W2116528556","https://openalex.org/W2122909244","https://openalex.org/W2148033465","https://openalex.org/W2337991911","https://openalex.org/W2914067738","https://openalex.org/W6677597315"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2166802441","https://openalex.org/W2514466123"],"abstract_inverted_index":{"Most":[0],"commercially":[1],"available":[2],"robots":[3],"use":[4],"either":[5],"tracked":[6],"or":[7],"wheeled":[8],"forms":[9],"of":[10,23,44,52,58,92,122,132,148,150,169],"locomotion,":[11],"however":[12],"there":[13],"is":[14],"a":[15,53,101,113,142],"great":[16],"need":[17],"for":[18,70,145],"the":[19,29,42,50,77,80,120,126,133,137,146],"study":[20],"and":[21,36,73,79,88,96,136,171],"introduction":[22],"legged":[24],"walkers.":[25],"Legged":[26],"walkers":[27],"have":[28],"ability":[30],"to":[31,100,118],"navigate":[32],"over":[33,153],"rougher":[34],"terrains":[35],"can":[37,89],"be":[38],"more":[39],"robust":[40],"in":[41,94,110,116],"case":[43],"leg":[45],"failure.":[46],"This":[47,62],"paper":[48],"presents":[49],"design":[51,83],"six":[54],"legged,":[55],"18":[56],"degree":[57,103],"freedom":[59],"walking":[60],"robot.":[61],"hexapod":[63],"supports":[64],"multiple":[65],"gaits,":[66],"records":[67],"torque":[68,139],"readings":[69],"later":[71],"analysis":[72,147,159],"detects":[74],"collisions":[75],"between":[76],"feet":[78],"ground.":[81],"The":[82,105,130],"has":[84,107],"been":[85,108],"fully":[86],"tested":[87],"negotiate":[90],"obstacles":[91],"450mm":[93],"height":[95],"climb":[97],"terrain":[98],"up":[99],"40":[102],"slope.":[104],"platform":[106],"designed":[109],"conjunction":[111],"with":[112],"simulation":[114,134],"package":[115,135],"order":[117],"analyse":[119],"effects":[121],"different":[123,151],"gaits":[124,152],"on":[125],"required":[127],"motor":[128],"torques.":[129],"combination":[131],"on-board":[138],"monitoring":[140],"provides":[141],"unique":[143],"system":[144],"performance":[149],"various":[154],"terrains.":[155],"It":[156],"also":[157],"allows":[158],"how":[160,161],"other":[162],"parameters":[163],"affect":[164],"performance,":[165],"such":[166],"as":[167],"number":[168],"legs":[170],"mass.":[172]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
