{"id":"https://openalex.org/W3216058783","doi":"https://doi.org/10.1109/crc52766.2021.9620119","title":"The Dynamics Research of Quadruped Robotics with Flexible Spine: A Review","display_name":"The Dynamics Research of Quadruped Robotics with Flexible Spine: A Review","publication_year":2021,"publication_date":"2021-10-09","ids":{"openalex":"https://openalex.org/W3216058783","doi":"https://doi.org/10.1109/crc52766.2021.9620119","mag":"3216058783"},"language":"en","primary_location":{"id":"doi:10.1109/crc52766.2021.9620119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620119","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"},"type":"review","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/A5100710366","display_name":"Chunlei Wang","orcid":"https://orcid.org/0000-0002-4353-9140"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Chunlei Wang","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007720387","display_name":"Yunji Li","orcid":"https://orcid.org/0009-0003-7583-4819"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yunji Li","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086796391","display_name":"Haifeng Sun","orcid":"https://orcid.org/0000-0001-5420-3223"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Haifeng Sun","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112318039","display_name":"Xiaonan Hou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaonan Hou","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034857426","display_name":"Chunhui Fan","orcid":"https://orcid.org/0000-0003-0495-5237"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chunhui Fan","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075132465","display_name":"Ya Yang","orcid":"https://orcid.org/0000-0003-0168-2974"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ya Yang","raw_affiliation_strings":["Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Robotics Engineering Center, The 21st Research Institute of CETC, Shanghai, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100710366"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3342,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.54272351,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"13","last_page":"18"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9855999946594238,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9625999927520752,"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/robotics","display_name":"Robotics","score":0.8599693775177002},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6477150917053223},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5925947427749634},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5433616638183594},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4983487129211426},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.490178644657135},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4901164472103119},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.48807084560394287},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.41898778080940247},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4019731879234314},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3444557189941406},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2524176836013794},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.11121365427970886},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07847625017166138}],"concepts":[{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.8599693775177002},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6477150917053223},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5925947427749634},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5433616638183594},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4983487129211426},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.490178644657135},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4901164472103119},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.48807084560394287},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.41898778080940247},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4019731879234314},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3444557189941406},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2524176836013794},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.11121365427970886},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07847625017166138},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc52766.2021.9620119","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620119","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8999999761581421}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W191034925","https://openalex.org/W1966084770","https://openalex.org/W1974924365","https://openalex.org/W1988193275","https://openalex.org/W1997933654","https://openalex.org/W1999559361","https://openalex.org/W2003106919","https://openalex.org/W2008342119","https://openalex.org/W2015275088","https://openalex.org/W2020244236","https://openalex.org/W2025443754","https://openalex.org/W2029641455","https://openalex.org/W2034037622","https://openalex.org/W2056926607","https://openalex.org/W2059572714","https://openalex.org/W2074450346","https://openalex.org/W2082871880","https://openalex.org/W2109374792","https://openalex.org/W2114850647","https://openalex.org/W2117053419","https://openalex.org/W2138012722","https://openalex.org/W2138557224","https://openalex.org/W2156355884","https://openalex.org/W2160951293","https://openalex.org/W2161643831","https://openalex.org/W2205872216","https://openalex.org/W2220061838","https://openalex.org/W2286966931","https://openalex.org/W2318968772","https://openalex.org/W2328920909","https://openalex.org/W2336424952","https://openalex.org/W2460309394","https://openalex.org/W2555009788","https://openalex.org/W2719930347","https://openalex.org/W2791037882","https://openalex.org/W2932383953","https://openalex.org/W2946314248","https://openalex.org/W2965934307","https://openalex.org/W2985377339","https://openalex.org/W3008668047","https://openalex.org/W3049381780","https://openalex.org/W4250440090","https://openalex.org/W6607720215","https://openalex.org/W6674812489","https://openalex.org/W6703174914"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913","https://openalex.org/W1929120455","https://openalex.org/W2753556613"],"abstract_inverted_index":{"Flexible":[0],"spine":[1,41,63,76],"motion":[2,77],"of":[3,23,36,56,69,81,101],"the":[4,11,24,46,50,57,67,74,79,82,96,102],"quadruped":[5,25,37,58,83,103],"has":[6],"a":[7,89],"decisive":[8],"influence":[9],"on":[10],"explosive":[12],"power,":[13],"energy":[14],"utilization":[15],"efficiency,":[16],"stability,":[17],"terrain-pass":[18],"ability,":[19],"and":[20,33,53,92,98],"balance":[21],"ability":[22],"during":[26],"running":[27],"motion.":[28],"The":[29],"passive":[30],"dynamics":[31],"models":[32],"analysis":[34],"methods":[35],"robotics":[38,84],"with":[39,61],"flexible":[40,62,75],"are":[42,64],"summarized":[43],"to":[44,78],"infer":[45],"kinetic":[47],"mechanism.":[48],"Furthermore,":[49],"current":[51],"situation":[52],"future":[54],"development":[55],"robotic":[59],"prototype":[60],"analyzed.":[65],"Finally,":[66],"improvement":[68],"dynamic":[70],"performance":[71],"brought":[72],"by":[73],"movement":[80],"is":[85],"concluded.":[86],"These":[87],"provide":[88],"theoretical":[90],"basis":[91],"technical":[93],"guidance":[94],"for":[95],"design":[97],"control":[99],"algorithm":[100],"robotics.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}