{"id":"https://openalex.org/W2917953701","doi":"https://doi.org/10.1109/embc.2019.8857345","title":"Analytic Model for Quadruped Locomotion Task-Space Planning","display_name":"Analytic Model for Quadruped Locomotion Task-Space Planning","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2917953701","doi":"https://doi.org/10.1109/embc.2019.8857345","mag":"2917953701","pmid":"https://pubmed.ncbi.nlm.nih.gov/31947053"},"language":"en","primary_location":{"id":"doi:10.1109/embc.2019.8857345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref","pubmed"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1902.07346","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Carlo Tiseo","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Carlo Tiseo","raw_affiliation_strings":["School of Informatics at the University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics at the University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Sethu Vijayakumar","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics at the University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics at the University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":null,"display_name":"Michael Mistry","orcid":null},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["School of Informatics at the University of Edinburgh, Edinburgh, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Informatics at the University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":null,"apc_paid":null,"fwci":0.9775,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67735963,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":"2019","issue":null,"first_page":"5301","last_page":"5304"},"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":0.9764000177383423,"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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9689000248908997,"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/kinematics","display_name":"Kinematics","score":0.6582000255584717},{"id":"https://openalex.org/keywords/attractor","display_name":"Attractor","score":0.5227000117301941},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5184000134468079},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5138999819755554},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.490200012922287},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.4733000099658966},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45410001277923584},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4413999915122986}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6582000255584717},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.54830002784729},{"id":"https://openalex.org/C164380108","wikidata":"https://www.wikidata.org/wiki/Q507187","display_name":"Attractor","level":2,"score":0.5227000117301941},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5184000134468079},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5138999819755554},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.490200012922287},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.4733000099658966},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45410001277923584},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4413999915122986},{"id":"https://openalex.org/C205711294","wikidata":"https://www.wikidata.org/wiki/Q176953","display_name":"Rendering (computer graphics)","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C124017977","wikidata":"https://www.wikidata.org/wiki/Q11412","display_name":"Gravitation","level":2,"score":0.34619998931884766},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33739998936653137},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3319999873638153},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.3190000057220459},{"id":"https://openalex.org/C2780791683","wikidata":"https://www.wikidata.org/wiki/Q846785","display_name":"Action (physics)","level":2,"score":0.30660000443458557},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.2962000072002411},{"id":"https://openalex.org/C50897621","wikidata":"https://www.wikidata.org/wiki/Q2665508","display_name":"Hybrid system","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.26930001378059387},{"id":"https://openalex.org/C2989549987","wikidata":"https://www.wikidata.org/wiki/Q350882","display_name":"Route planning","level":2,"score":0.2662999927997589},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2639000117778778},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2574999928474426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25130000710487366}],"mesh":[{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D000818","descriptor_name":"Animals","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D001696","descriptor_name":"Biomechanical Phenomena","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008124","descriptor_name":"Locomotion","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D008954","descriptor_name":"Models, Biological","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true}],"locations_count":3,"locations":[{"id":"doi:10.1109/embc.2019.8857345","is_oa":false,"landing_page_url":"https://doi.org/10.1109/embc.2019.8857345","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)","raw_type":"proceedings-article"},{"id":"pmid:31947053","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31947053","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference","raw_type":null},{"id":"pmh:oai:arXiv.org:1902.07346","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.07346","pdf_url":"https://arxiv.org/pdf/1902.07346","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1902.07346","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1902.07346","pdf_url":"https://arxiv.org/pdf/1902.07346","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2838024195","display_name":"UK Robotics and Artificial Intelligence Hub for Offshore Energy Asset Integrity Management","funder_award_id":"EP/R026173/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G528393513","display_name":"National Centre for Nuclear Robotics (NCNR)","funder_award_id":"EP/R02572X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W307178758","https://openalex.org/W1997026796","https://openalex.org/W2131447440","https://openalex.org/W2562619897","https://openalex.org/W2602737239","https://openalex.org/W2752699263","https://openalex.org/W2795034878","https://openalex.org/W2897811721","https://openalex.org/W2899421591"],"related_works":[],"abstract_inverted_index":{"Despite":[0],"the":[1,5,34,38,41,50,99,108,111,123,138,148,152],"extensive":[2],"presence":[3],"of":[4,33,44,52,73,92,101,110,159],"legged":[6],"locomotion":[7,20,117],"in":[8,59,137,147,162],"animals,":[9],"it":[10,95],"is":[11,21,96],"extremely":[12],"challenging":[13,163],"to":[14,114,150],"be":[15,135],"reproduced":[16],"with":[17,49,129],"robots.":[18],"Legged":[19],"an":[22,102],"dynamic":[23],"task":[24],"which":[25],"benefits":[26],"from":[27],"a":[28,65,83],"planning":[29,158],"that":[30,68,106,122,127],"takes":[31],"advantage":[32],"gravitational":[35,112],"pull":[36],"on":[37,98],"system.":[39],"However,":[40],"computational":[42,153],"cost":[43,154],"such":[45],"optimization":[46,146],"rapidly":[47],"increases":[48],"complexity":[51],"kinematic":[53],"structures,":[54],"rendering":[55],"impossible":[56],"real-time":[57,157],"deployment":[58],"unstructured":[60],"environments.":[61,164],"This":[62],"paper":[63],"proposes":[64],"simplified":[66],"method":[67],"can":[69],"generate":[70],"desired":[71],"centre":[72],"mass":[74],"and":[75,94,155],"feet":[76],"trajectory":[77,145],"for":[78,143],"quadrupeds.":[79],"The":[80,119,132],"model":[81,105,124,133],"describes":[82],"quadruped":[84],"as":[85,140],"two":[86],"bipeds":[87],"connected":[88],"via":[89],"their":[90],"centres":[91],"mass,":[93],"based":[97],"extension":[100],"algebraic":[103],"bipedal":[104,116],"uses":[107],"topology":[109],"attractor":[113],"describe":[115],"strategies.":[118],"results":[120],"show":[121],"generates":[125],"trajectories":[126],"agrees":[128],"previous":[130],"studies.":[131],"will":[134],"deployed":[136],"future":[139],"seed":[141],"solution":[142],"whole-body":[144],"attempt":[149],"reduce":[151],"obtain":[156],"complex":[160],"action":[161]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2019-03-02T00:00:00"}