{"id":"https://openalex.org/W4414433048","doi":"https://doi.org/10.1109/case58245.2025.11164116","title":"Hybrid Motion Control for a Novel Wheeled Quadruped Robot","display_name":"Hybrid Motion Control for a Novel Wheeled Quadruped Robot","publication_year":2025,"publication_date":"2025-08-17","ids":{"openalex":"https://openalex.org/W4414433048","doi":"https://doi.org/10.1109/case58245.2025.11164116"},"language":"en","primary_location":{"id":"doi:10.1109/case58245.2025.11164116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","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/A5110494989","display_name":"Chenyun Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenyun Zhang","raw_affiliation_strings":["Fudan University,School of Information Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Information Science and Engineering,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019940896","display_name":"Ruijiao Li","orcid":"https://orcid.org/0000-0002-3191-3828"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruijiao Li","raw_affiliation_strings":["Fudan University,School of Academy for Engineering and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Academy for Engineering and Technology,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012917834","display_name":"Anzheng Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anzheng Zhang","raw_affiliation_strings":["Fudan University,School of Information Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Information Science and Engineering,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113323401","display_name":"Rezwan Al Islam Khan","orcid":null},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rezwan Al Islam Khan","raw_affiliation_strings":["Fudan University,School of Information Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Information Science and Engineering,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002289843","display_name":"Yuzhen Pan","orcid":"https://orcid.org/0000-0002-9536-0169"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuzhen Pan","raw_affiliation_strings":["Fudan University,School of Academy for Engineering and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Academy for Engineering and Technology,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101626936","display_name":"Xuan Zhao","orcid":"https://orcid.org/0000-0001-8517-0276"},"institutions":[{"id":"https://openalex.org/I4210159154","display_name":"Yiwu Science and Technology Research Institute","ror":"https://ror.org/04kvstc88","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159154","https://openalex.org/I55712492"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Zhao","raw_affiliation_strings":["Yiwu Research Institute of Fudan University,Yiwu,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Yiwu Research Institute of Fudan University,Yiwu,China","institution_ids":["https://openalex.org/I4210159154"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100358446","display_name":"Qiong Li","orcid":"https://orcid.org/0000-0003-2838-9380"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiong Li","raw_affiliation_strings":["Fudan University,School of Information Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Information Science and Engineering,China","institution_ids":["https://openalex.org/I24943067"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073377159","display_name":"Chen Zhou","orcid":"https://orcid.org/0000-0002-2707-2624"},"institutions":[{"id":"https://openalex.org/I78577930","display_name":"Columbia University","ror":"https://ror.org/00hj8s172","country_code":"US","type":"education","lineage":["https://openalex.org/I78577930"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chengrui Zhou","raw_affiliation_strings":["Columbia University,Department of Computer Science,New York,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Columbia University,Department of Computer Science,New York,USA","institution_ids":["https://openalex.org/I78577930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110301590","display_name":"Huiliang Shang","orcid":"https://orcid.org/0000-0002-9553-1589"},"institutions":[{"id":"https://openalex.org/I24943067","display_name":"Fudan University","ror":"https://ror.org/013q1eq08","country_code":"CN","type":"education","lineage":["https://openalex.org/I24943067"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiliang Shang","raw_affiliation_strings":["Fudan University,School of Information Science and Engineering,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fudan University,School of Information Science and Engineering,China","institution_ids":["https://openalex.org/I24943067"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2751","last_page":"2757"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9983999729156494,"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":0.9983999729156494,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9873999953269958,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9760000109672546,"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":0.6747999787330627},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6653000116348267},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.603600025177002},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5996000170707703},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.39160001277923584},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.3887999951839447},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.385699987411499},{"id":"https://openalex.org/keywords/track","display_name":"Track (disk drive)","score":0.37119999527931213}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6747999787330627},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6653000116348267},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.603600025177002},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5996000170707703},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4934999942779541},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42719998955726624},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4242999851703644},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.39160001277923584},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.3887999951839447},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.385699987411499},{"id":"https://openalex.org/C89992363","wikidata":"https://www.wikidata.org/wiki/Q5961558","display_name":"Track (disk drive)","level":2,"score":0.37119999527931213},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.33219999074935913},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33009999990463257},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.304500013589859},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2922999858856201},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.29109999537467957},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.28790000081062317},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2732999920845032},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2709999978542328},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.25380000472068787}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case58245.2025.11164116","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case58245.2025.11164116","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE 21st International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327297","display_name":"Education Department of Guangxi Zhuang Autonomous Region","ror":"https://ror.org/00kx48s25"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1974301635","https://openalex.org/W1998480117","https://openalex.org/W2065238107","https://openalex.org/W2086587468","https://openalex.org/W2161427949","https://openalex.org/W2793991136","https://openalex.org/W2908534815","https://openalex.org/W2912365230","https://openalex.org/W2951633861","https://openalex.org/W2962824567","https://openalex.org/W2970228732","https://openalex.org/W3003397085","https://openalex.org/W3004201008","https://openalex.org/W3081791272","https://openalex.org/W3093326211","https://openalex.org/W4292852808","https://openalex.org/W4293160779","https://openalex.org/W4313195370","https://openalex.org/W4377825225","https://openalex.org/W4401375666","https://openalex.org/W4401416765"],"related_works":[],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,10,17,40,49,73,92,151],"modeling":[3,113],"and":[4,37,39,59,65,91,104,115,130,139],"hybrid":[5,50],"locomotion":[6,70],"control":[7,76],"method":[8,114],"for":[9,85,102],"novel":[11],"wheeled":[12,60],"quadruped":[13,29,87],"robot,":[14],"Pegasus,":[15],"featuring":[16],"unique":[18],"lightweight":[19],"linear-actuator-driven":[20],"ankle":[21,146,167],"structure":[22],"that":[23,110],"enables":[24],"four-wheel":[25],"independent":[26],"steering.":[27],"A":[28],"model,":[30],"which":[31],"only":[32],"activates":[33],"12":[34],"joints(hip,":[35],"thigh,":[36],"knee),":[38],"vehicle":[41,94],"model":[42,74,88],"are":[43],"implemented":[44],"on":[45],"Pegasus":[46,124],"simultaneously,":[47],"with":[48,119],"velocity":[51,67,116],"allocation":[52,117],"strategy":[53,118],"aiming":[54],"to":[55,68,81,98,125,132,150,164],"combine":[56],"both":[57,69],"legged":[58],"movements,":[61],"distributing":[62],"desired":[63,128],"linear":[64],"angular":[66],"modes.":[71],"Moreover,":[72],"predictive":[75],"(MPC)":[77],"controller":[78,121],"is":[79,96],"designed":[80],"generate":[82],"optimal":[83],"torque":[84],"the":[86,100,111,127,143,155],"in":[89,154],"real-time,":[90],"\"telescopic":[93],"model\"":[95],"derived":[97],"calculate":[99],"commands":[101,129],"ankles":[103],"wheels.":[105],"Our":[106],"experimental":[107],"results":[108],"demonstrate":[109],"proposed":[112],"our":[120],"can":[122],"enable":[123],"track":[126],"adapt":[131],"various":[133],"terrains,":[134],"such":[135],"as":[136],"ramps,":[137],"curves,":[138],"gravel":[140],"roads.":[141],"Furthermore,":[142],"utilization":[144],"of":[145,157],"joints":[147],"has":[148],"led":[149],"considerable":[152],"reduction":[153],"cost":[156],"transport":[158],"(CoT)":[159],"by":[160],"surpassing":[161],"20%":[162],"compared":[163],"scenarios":[165],"lacking":[166],"joints.":[168]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
