{"id":"https://openalex.org/W2972641431","doi":"https://doi.org/10.1109/icarm.2019.8833857","title":"Analysis of Joint Torque under Single Movement Cycle of Underwater Legged Robot","display_name":"Analysis of Joint Torque under Single Movement Cycle of Underwater Legged Robot","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972641431","doi":"https://doi.org/10.1109/icarm.2019.8833857","mag":"2972641431"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8833857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5100644049","display_name":"Guanyu Wang","orcid":"https://orcid.org/0000-0003-3627-0232"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Wang","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100676179","display_name":"Kunpeng Wang","orcid":"https://orcid.org/0000-0001-5088-2548"},"institutions":[{"id":"https://openalex.org/I2802505932","display_name":"China Aerodynamics Research and Development Center","ror":"https://ror.org/00jma8s40","country_code":"CN","type":"facility","lineage":["https://openalex.org/I2802505932"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunpeng Wang","raw_affiliation_strings":["China Academy of Aerospace Aerodynamics, CH UAV Technology Co. Ltd, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Academy of Aerospace Aerodynamics, CH UAV Technology Co. Ltd, Beijing, China","institution_ids":["https://openalex.org/I2802505932"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012020883","display_name":"Liang Ding","orcid":"https://orcid.org/0000-0002-8351-5178"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liang Ding","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033616367","display_name":"Haibo Gao","orcid":"https://orcid.org/0000-0002-6501-656X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Gao","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059277742","display_name":"Haitao Yu","orcid":"https://orcid.org/0000-0002-1304-3988"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Yu","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617483","display_name":"Zongquan Deng","orcid":"https://orcid.org/0000-0003-2432-8329"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":"CN","type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zongquan Deng","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9775,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.71999259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/torque","display_name":"Torque","score":0.7919216156005859},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7644189596176147},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6029164791107178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5418072938919067},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.531825602054596},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5228139162063599},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49162203073501587},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4516264498233795},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.4434260129928589},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.429452508687973},{"id":"https://openalex.org/keywords/remotely-operated-underwater-vehicle","display_name":"Remotely operated underwater vehicle","score":0.4170233905315399},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37742748856544495},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3666267395019531},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32060378789901733},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.16723763942718506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15582770109176636},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13142907619476318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12975585460662842},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1029806137084961}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7919216156005859},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7644189596176147},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6029164791107178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5418072938919067},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.531825602054596},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5228139162063599},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49162203073501587},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4516264498233795},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.4434260129928589},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.429452508687973},{"id":"https://openalex.org/C145424490","wikidata":"https://www.wikidata.org/wiki/Q618465","display_name":"Remotely operated underwater vehicle","level":4,"score":0.4170233905315399},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37742748856544495},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3666267395019531},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32060378789901733},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.16723763942718506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15582770109176636},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13142907619476318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12975585460662842},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1029806137084961},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2019.8833857","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833857","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8600000143051147,"id":"https://metadata.un.org/sdg/14","display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W364988151","https://openalex.org/W1498726381","https://openalex.org/W1973856145","https://openalex.org/W1975230295","https://openalex.org/W1998580099","https://openalex.org/W2022680184","https://openalex.org/W2038483892","https://openalex.org/W2080314830","https://openalex.org/W2117487736","https://openalex.org/W2156968214","https://openalex.org/W2159559414","https://openalex.org/W2290825616","https://openalex.org/W2509234055","https://openalex.org/W3143548530"],"related_works":["https://openalex.org/W2373930418","https://openalex.org/W2053809959","https://openalex.org/W2901478721","https://openalex.org/W2351997950","https://openalex.org/W2110850625","https://openalex.org/W1921813263","https://openalex.org/W2367976750","https://openalex.org/W2159184741","https://openalex.org/W2136790576","https://openalex.org/W1988645656"],"abstract_inverted_index":{"With":[0],"the":[1,7,9,17,23,28,52,62,88,101,108,113,117,123,126,134,147],"development":[2,29],"of":[3,6,12,22,30,49,75,87,104,116,125],"human":[4],"exploration":[5,33],"ocean,":[8],"movement":[10,93],"ability":[11],"underwater":[13,37,63,89],"detection":[14],"equipment":[15],"in":[16],"marine":[18],"has":[19],"become":[20],"one":[21],"key":[24],"technologies":[25],"that":[26,149],"restrict":[27],"deep":[31],"sea":[32],"and":[34,44,60,111,141,145],"work.":[35],"The":[36,98],"legged":[38,64],"robot":[39,91],"can":[40,154],"achieve":[41],"fixed-point":[42],"operation":[43],"avoid":[45],"disturbance":[46],"from":[47],"thrusters":[48],"ROV":[50],"to":[51,58,69,83,106,132],"surrounding":[53],"observation":[54],"environment.":[55],"In":[56],"order":[57],"design":[59],"control":[61],"robot,":[65],"it":[66],"is":[67],"necessary":[68],"compute":[70,84,133],"joint":[71,85,135],"torque":[72,86,136],"with":[73,119],"influence":[74,155],"hydrodynamic":[76,120],"force.":[77,121],"This":[78],"paper":[79],"presents":[80],"a":[81],"method":[82,99],"six-legged":[90],"during":[92],"cycle":[94],"under":[95,137],"different":[96,138,142],"conditions.":[97],"plans":[100],"motion":[102,109],"trajectory":[103],"leg":[105,118],"get":[107],"parameters,":[110],"builds":[112],"dynamic":[114],"equation":[115],"At":[122],"end":[124],"paper,":[127],"an":[128],"example":[129],"were":[130],"used":[131],"flow":[139,143,152],"direction":[140,153],"velocity,":[144],"represents":[146],"results":[148],"only":[150],"specific":[151,156],"joint.":[157]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
