{"id":"https://openalex.org/W1563477615","doi":"https://doi.org/10.1109/ascc.2015.7244527","title":"Dynamic analysis of a hexapod robot with parallel leg mechanisms for high payloads","display_name":"Dynamic analysis of a hexapod robot with parallel leg mechanisms for high payloads","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1563477615","doi":"https://doi.org/10.1109/ascc.2015.7244527","mag":"1563477615"},"language":"en","primary_location":{"id":"doi:10.1109/ascc.2015.7244527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2015.7244527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 10th Asian Control Conference (ASCC)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5041360325","display_name":"Guiyang Xin","orcid":"https://orcid.org/0000-0003-0921-7487"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guiyang Xin","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022074243","display_name":"Guoliang Zhong","orcid":"https://orcid.org/0000-0003-0694-8874"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoliang Zhong","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China","institution_ids":["https://openalex.org/I139660479"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113555025","display_name":"Hua Deng","orcid":"https://orcid.org/0000-0003-2075-2990"},"institutions":[{"id":"https://openalex.org/I139660479","display_name":"Central South University","ror":"https://ror.org/00f1zfq44","country_code":"CN","type":"education","lineage":["https://openalex.org/I139660479"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Deng","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Central South University, Changsha, P.R. China","institution_ids":["https://openalex.org/I139660479"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I139660479"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"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":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9975000023841858,"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/payload","display_name":"Payload (computing)","score":0.8634780645370483},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.8297905921936035},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6956672668457031},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5948222875595093},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5532011985778809},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5350778102874756},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5323370695114136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4540553390979767},{"id":"https://openalex.org/keywords/distribution","display_name":"Distribution (mathematics)","score":0.43337857723236084},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.42405301332473755},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3000044822692871},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17092233896255493},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16251885890960693},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1495743989944458},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14756500720977783},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07103171944618225}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8634780645370483},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8297905921936035},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6956672668457031},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5948222875595093},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5532011985778809},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5350778102874756},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5323370695114136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4540553390979767},{"id":"https://openalex.org/C110121322","wikidata":"https://www.wikidata.org/wiki/Q865811","display_name":"Distribution (mathematics)","level":2,"score":0.43337857723236084},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.42405301332473755},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3000044822692871},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17092233896255493},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16251885890960693},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1495743989944458},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14756500720977783},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07103171944618225},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ascc.2015.7244527","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ascc.2015.7244527","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 10th Asian Control Conference (ASCC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W215766046","https://openalex.org/W1670969129","https://openalex.org/W1963551751","https://openalex.org/W1964803086","https://openalex.org/W2063526072","https://openalex.org/W2078038590","https://openalex.org/W2106385771","https://openalex.org/W2133347025","https://openalex.org/W2141012854","https://openalex.org/W2145392820","https://openalex.org/W2154631808","https://openalex.org/W4256104700"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W138543751","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W4379531983","https://openalex.org/W2294241086"],"abstract_inverted_index":{"A":[0],"novel":[1,33],"hexapod":[2],"robot":[3,19,67],"with":[4,134],"3-DOF":[5],"parallel":[6,29],"leg":[7],"mechanisms":[8],"is":[9,45,68,104],"presented":[10],"in":[11,51,93,107,127],"this":[12,94],"paper.":[13],"The":[14,116],"payload":[15,56],"capability":[16,57],"of":[17,28,37,58,65,78,89,138,147],"the":[18,26,55,59,62,66,71,76,86,96,101,108,112,121,135,144,151],"has":[20],"a":[21,32,128],"high":[22],"promotion":[23],"due":[24,142],"to":[25,47,53,85,143,149],"utilizing":[27],"mechanisms.":[30],"Meanwhile,":[31],"force":[34,98],"distribution":[35,40,99,124,132,141],"approach":[36],"joint":[38,49,82,109,122,153],"space":[39,80,91,110,123,140],"for":[41,100],"redundant":[42],"actuation":[43],"system":[44],"proposed":[46],"optimize":[48],"forces":[50,77],"order":[52],"promote":[54],"robot.":[60],"Usually,":[61],"dynamic":[63],"load":[64],"distributed":[69],"over":[70],"contact":[72,79,90,139],"space,":[73],"then":[74],"map":[75],"onto":[81],"space.":[83],"Different":[84],"usual":[87],"way":[88],"distribution,":[92],"paper,":[95],"optimal":[97],"supporting":[102],"legs":[103],"directly":[105],"solved":[106],"using":[111],"Moore-Penrose":[113],"pseudo-inverse":[114],"matrix.":[115],"simulation":[117],"results":[118,126],"demonstrate":[119],"that":[120],"scheme":[125,137],"much":[129],"more":[130],"efficient":[131],"compared":[133],"conventional":[136],"good":[145],"use":[146],"friction":[148],"reduce":[150],"required":[152],"forces.":[154]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}