{"id":"https://openalex.org/W2109920783","doi":"https://doi.org/10.1109/cca.2004.1387486","title":"Design and control of a quadruped robot walking in unstructured terrain","display_name":"Design and control of a quadruped robot walking in unstructured terrain","publication_year":2005,"publication_date":"2005-03-07","ids":{"openalex":"https://openalex.org/W2109920783","doi":"https://doi.org/10.1109/cca.2004.1387486","mag":"2109920783"},"language":"en","primary_location":{"id":"doi:10.1109/cca.2004.1387486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2004.1387486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.","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/A5078387676","display_name":"M. Hiller","orcid":"https://orcid.org/0000-0002-8133-0102"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"M. Hiller","raw_affiliation_strings":["Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","Inst. of Mechatronics, Duisburg Univ., Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Inst. of Mechatronics, Duisburg Univ., Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108354839","display_name":"D. Germann","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"D. Germann","raw_affiliation_strings":["Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","Inst. of Mechatronics, Duisburg Univ., Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Inst. of Mechatronics, Duisburg Univ., Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055063895","display_name":"J.A. Morgado de Gois","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"J.A. Morgado de Gois","raw_affiliation_strings":["Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","Inst. of Mechatronics, Duisburg Univ., Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Mechatronics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Inst. of Mechatronics, Duisburg Univ., Germany","institution_ids":["https://openalex.org/I62318514"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5078387676"],"corresponding_institution_ids":["https://openalex.org/I62318514"],"apc_list":null,"apc_paid":null,"fwci":0.8731,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.75697948,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":null,"first_page":"916","last_page":"921"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9785000085830688,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9646999835968018,"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/terrain","display_name":"Terrain","score":0.7789971828460693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.689048171043396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.645203709602356},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5226337909698486},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4896686375141144},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4877086579799652},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3455992341041565},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2577705681324005},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.07676011323928833}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7789971828460693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.689048171043396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.645203709602356},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5226337909698486},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4896686375141144},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4877086579799652},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3455992341041565},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2577705681324005},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.07676011323928833},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cca.2004.1387486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cca.2004.1387486","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 IEEE International Conference on Control Applications, 2004.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W17506368","https://openalex.org/W2097856935","https://openalex.org/W2338167185","https://openalex.org/W2618086382","https://openalex.org/W2620583578","https://openalex.org/W4285719527","https://openalex.org/W6703280228","https://openalex.org/W6738693800","https://openalex.org/W6738944068"],"related_works":["https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2581059419","https://openalex.org/W2401800146"],"abstract_inverted_index":{"All":[0],"quadrupeds":[1],"have":[2],"to":[3,37,78,93],"deal":[4],"with":[5,64],"the":[6,38,65,79,96],"same":[7],"challenge":[8],"of":[9,16,28,40],"motion":[10,18,81],"generation.":[11],"Here,":[12],"a":[13,17,51,59],"general":[14],"architecture":[15],"generator":[19],"for":[20],"statically":[21],"stable":[22],"gaits":[23],"is":[24],"proposed,":[25],"and,":[26],"because":[27],"its":[29],"modular":[30],"structure,":[31,53],"it":[32],"can":[33,70],"be":[34,71],"easily":[35],"adapted":[36],"needs":[39],"various":[41],"four":[42,74],"legged":[43],"walking":[44],"machines.":[45],"Encapsulated":[46],"modules":[47],"are":[48],"arranged":[49],"in":[50],"hierarchical":[52],"where":[54],"each":[55],"one":[56],"carries":[57],"out":[58,95],"certain":[60],"task":[61],"and":[62,85],"communicates":[63],"connected":[66],"modules.":[67],"The":[68],"structure":[69],"divided":[72],"into":[73],"main":[75],"parts:":[76],"interface":[77],"robot,":[80],"generation,":[82],"model-based":[83],"controller":[84],"sensor":[86],"data":[87],"processing,":[88],"which":[89],"uses":[90],"fuzzy":[91],"inference":[92],"carry":[94],"obstacle":[97],"avoidance":[98],"task.":[99]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
