{"id":"https://openalex.org/W4386159346","doi":"https://doi.org/10.1109/icarm58088.2023.10218915","title":"Design and Experimental Evaluation of a Hexapod Mobile Robot with C-Shaped Legs","display_name":"Design and Experimental Evaluation of a Hexapod Mobile Robot with C-Shaped Legs","publication_year":2023,"publication_date":"2023-07-08","ids":{"openalex":"https://openalex.org/W4386159346","doi":"https://doi.org/10.1109/icarm58088.2023.10218915"},"language":"en","primary_location":{"id":"doi:10.1109/icarm58088.2023.10218915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5030228876","display_name":"Yujie Wu","orcid":"https://orcid.org/0000-0003-3973-4231"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yujie Wu","raw_affiliation_strings":["Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012590587","display_name":"Dangchao Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dangchao Li","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xia Dong","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xia Dong","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102602594","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0001-8441-6836"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["School of Construction Machinery, Chang&#x0027;an University,Xi&#x0027;an,China,710064"],"affiliations":[{"raw_affiliation_string":"School of Construction Machinery, Chang&#x0027;an University,Xi&#x0027;an,China,710064","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058634209","display_name":"Chunli Zheng","orcid":"https://orcid.org/0000-0002-1518-5488"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chunli Zheng","raw_affiliation_strings":["Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049","School of Energy and Power Engineering, Xi'an Jiaotong University, Xi'an, China","Xi'an Jiaotong University, Xi'an, China"],"affiliations":[{"raw_affiliation_string":"Xi&#x0027;an Jiaotong University,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"School of Energy and Power Engineering, Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]},{"raw_affiliation_string":"Xi'an Jiaotong University, Xi'an, China","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038153145","display_name":"Aibin Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aibin Zhu","raw_affiliation_strings":["Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100459107","display_name":"Zheng Zhang","orcid":"https://orcid.org/0000-0002-2292-0030"},"institutions":[{"id":"https://openalex.org/I87445476","display_name":"Xi'an Jiaotong University","ror":"https://ror.org/017zhmm22","country_code":"CN","type":"education","lineage":["https://openalex.org/I87445476"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng Zhang","raw_affiliation_strings":["Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics &#x0026; Intelligent Systems, Xi&#x0027;an Jiaotong University,Shaanxi Key Laboratory of Intelligent Robots,Xi&#x0027;an,China,710049","institution_ids":["https://openalex.org/I87445476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100899587","display_name":"Xu Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Zhou","raw_affiliation_strings":["School of Mechanical Engineering, Northwestern Polytechnical University,Xi&#x0027;an,710072","Taiyuan Research Institute of China Coal Technology & Engineering Group Co.,Ltd, Taiyuan, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Northwestern Polytechnical University,Xi&#x0027;an,710072","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"Taiyuan Research Institute of China Coal Technology & Engineering Group Co.,Ltd, Taiyuan, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778270","display_name":"Yulin Zhang","orcid":"https://orcid.org/0000-0001-7231-3880"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yulin Zhang","raw_affiliation_strings":["Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Education Ministry for Modern Design and Rotor-Bearing System,Xi&#x0027;an,China,710049","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":9,"corresponding_author_ids":["https://openalex.org/A5030228876"],"corresponding_institution_ids":["https://openalex.org/I87445476"],"apc_list":null,"apc_paid":null,"fwci":0.1082,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.40168281,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"336","last_page":"341"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.975600004196167,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.960099995136261,"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/hexapod","display_name":"Hexapod","score":0.9972326755523682},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7073407173156738},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6443328857421875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5171232223510742},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5156175494194031},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5056812763214111},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4995896816253662},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.492877721786499},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.48234981298446655},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4409412741661072},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36536359786987305},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22923028469085693},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14638787508010864}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9972326755523682},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7073407173156738},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6443328857421875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5171232223510742},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5156175494194031},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5056812763214111},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4995896816253662},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.492877721786499},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.48234981298446655},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4409412741661072},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36536359786987305},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22923028469085693},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14638787508010864},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/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/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm58088.2023.10218915","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm58088.2023.10218915","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2195795676","display_name":null,"funder_award_id":"xzd012022019","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G6366260168","display_name":null,"funder_award_id":"2023-YBGY-356,2023-YBGY-355,2022SF-352,2020XXX001","funder_id":"https://openalex.org/F4320336035","funder_display_name":"Shanxi Provincial Key Research and Development Project"}],"funders":[{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null},{"id":"https://openalex.org/F4320336035","display_name":"Shanxi Provincial Key Research and Development Project","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1964803662","https://openalex.org/W1967386574","https://openalex.org/W2044836221","https://openalex.org/W2053881671","https://openalex.org/W2096472402","https://openalex.org/W2103357765","https://openalex.org/W2104976581","https://openalex.org/W2128949244","https://openalex.org/W2165896714","https://openalex.org/W2287647571","https://openalex.org/W2291519481","https://openalex.org/W2346062164","https://openalex.org/W2914341277","https://openalex.org/W3016591950","https://openalex.org/W3200403178","https://openalex.org/W6661670922"],"related_works":["https://openalex.org/W3112941279","https://openalex.org/W1968492200","https://openalex.org/W4310969317","https://openalex.org/W2737606821","https://openalex.org/W1514516386","https://openalex.org/W1530229580","https://openalex.org/W2463859027","https://openalex.org/W4320801695","https://openalex.org/W2785936034","https://openalex.org/W2587094842"],"abstract_inverted_index":{"Drawing":[0],"on":[1,4],"extant":[2],"literature":[3],"hexapod":[5,12,78,90,127],"robots,":[6],"we":[7,62,74],"present":[8],"a":[9,28,95,103,122,132],"novel":[10],"obstacle-crossing":[11],"robot":[13,33,79,91,108],"that":[14,88,129],"can":[15,92,130],"adapt":[16],"to":[17],"multiple":[18],"terrains.":[19,135],"We":[20],"designed":[21],"the":[22,32,36,40,44,47,52,59,64,76,89,115],"robot's":[23,48],"entire":[24],"mechanical":[25],"structure,":[26],"established":[27],"mathematical":[29],"model":[30],"for":[31,125],"leg,":[34,41,61],"deduced":[35],"kinematic":[37],"equation":[38],"of":[39,58,97,134],"and":[42,51,70,80,100,113],"determined":[43],"relationship":[45],"between":[46,66],"motion":[49,71],"speed":[50,96],"motor":[53,67],"angle.":[54],"Through":[55],"force":[56],"analysis":[57],"C-shaped":[60],"obtained":[63],"function":[65],"output":[68],"torque":[69],"phase.":[72],"Subsequently,":[73],"constructed":[75],"physical":[77],"conducted":[81],"performance":[82,112],"testing.":[83],"Our":[84],"experimental":[85],"results":[86],"demonstrate":[87],"move":[93],"at":[94],"0.5":[98],"m/s":[99],"successfully":[101],"cross":[102],"10":[104],"cm":[105],"obstacle.":[106],"The":[107],"exhibits":[109],"excellent":[110],"movement":[111],"satisfies":[114],"functional":[116],"requirements.":[117],"Overall,":[118],"our":[119],"design":[120],"offers":[121],"promising":[123],"approach":[124],"developing":[126],"robots":[128],"navigate":[131],"variety":[133]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-04-16T08:26:57.006410","created_date":"2025-10-10T00:00:00"}
