{"id":"https://openalex.org/W4206419945","doi":"https://doi.org/10.1109/icct52962.2021.9657943","title":"Research on the Self-Stability Control and Gait Planning of Quadruped Robot Based on IMU","display_name":"Research on the Self-Stability Control and Gait Planning of Quadruped Robot Based on IMU","publication_year":2021,"publication_date":"2021-10-13","ids":{"openalex":"https://openalex.org/W4206419945","doi":"https://doi.org/10.1109/icct52962.2021.9657943"},"language":"en","primary_location":{"id":"doi:10.1109/icct52962.2021.9657943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icct52962.2021.9657943","pdf_url":null,"source":{"id":"https://openalex.org/S4363607878","display_name":"2021 IEEE 21st International Conference on Communication Technology (ICCT)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 21st International Conference on Communication Technology (ICCT)","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/A5068894176","display_name":"Lyuyan Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lyuyan Wang","raw_affiliation_strings":["School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103161188","display_name":"Zhou Jiang","orcid":"https://orcid.org/0000-0003-0749-3146"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhou Jiang","raw_affiliation_strings":["School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104285142","display_name":"Yang Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Hu","raw_affiliation_strings":["School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Mechatronical Engineering Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102865159","display_name":"Shuhui Yang","orcid":"https://orcid.org/0000-0001-9432-883X"},"institutions":[{"id":"https://openalex.org/I75689368","display_name":"Communication University of China","ror":"https://ror.org/04facbs33","country_code":"CN","type":"education","lineage":["https://openalex.org/I75689368"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuhui Yang","raw_affiliation_strings":["School of Information and Communication Engineering, Communication University of China, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information and Communication Engineering, Communication University of China, Beijing, China","institution_ids":["https://openalex.org/I75689368"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068894176"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.7688,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.66760636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1078","last_page":"1081"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9966999888420105,"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/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9531999826431274,"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/controllability","display_name":"Controllability","score":0.8160961866378784},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6938468217849731},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6881181001663208},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6663964986801147},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5820893049240112},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5325742363929749},{"id":"https://openalex.org/keywords/electronic-stability-control","display_name":"Electronic stability control","score":0.4916597008705139},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.46718457341194153},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44562095403671265},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42417019605636597},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41301050782203674},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35363417863845825},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32304465770721436},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.29903262853622437},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.20806154608726501},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20449450612068176},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11273908615112305},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.07117238640785217}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8160961866378784},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6938468217849731},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6881181001663208},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6663964986801147},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5820893049240112},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5325742363929749},{"id":"https://openalex.org/C207269410","wikidata":"https://www.wikidata.org/wiki/Q595839","display_name":"Electronic stability control","level":2,"score":0.4916597008705139},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.46718457341194153},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44562095403671265},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42417019605636597},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41301050782203674},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35363417863845825},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32304465770721436},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.29903262853622437},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.20806154608726501},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20449450612068176},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11273908615112305},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.07117238640785217},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icct52962.2021.9657943","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icct52962.2021.9657943","pdf_url":null,"source":{"id":"https://openalex.org/S4363607878","display_name":"2021 IEEE 21st International Conference on Communication Technology (ICCT)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 21st International Conference on Communication Technology (ICCT)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":6,"referenced_works":["https://openalex.org/W1979467869","https://openalex.org/W1994159318","https://openalex.org/W2013825596","https://openalex.org/W2054186704","https://openalex.org/W2150532485","https://openalex.org/W2354226185"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2140812588","https://openalex.org/W2411113819","https://openalex.org/W2072887367","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2003779889","https://openalex.org/W2164760767","https://openalex.org/W3082879976"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,56,74,99,112],"realize":[3,126],"the":[4,11,15,40,46,58,62,66,69,76,88,91,101,114,123,127,135],"motion":[5,59],"stability":[6,21,60,129,137],"and":[7,45,65,84,95,104,118,134],"attitude":[8],"controllability":[9,67],"of":[10,39,61,68,78,90],"quadruped":[12,63,108],"robot":[13,64,109],"in":[14,32],"complex":[16],"ground":[17],"environment,":[18],"a":[19,105],"multi-scene":[20],"control":[22,48,102,130,138],"system":[23,124],"based":[24,50],"on":[25,51],"inertial":[26],"measurement":[27,119],"unit":[28],"(IMU)":[29],"is":[30,43,54,110],"proposed":[31],"this":[33],"paper.":[34],"The":[35,116],"inverse":[36],"operation":[37],"formula":[38],"joint":[41],"angle":[42],"derived,":[44],"posture":[47],"method":[49],"nautical":[52],"angles":[53],"adopted":[55],"improve":[57],"body-horizontal":[70],"angle,":[71],"so":[72],"as":[73,82],"meet":[75],"requirements":[77],"different":[79],"scenarios":[80],"such":[81],"transportation":[83],"reconnaissance.":[85],"To":[86],"verify":[87],"effectiveness":[89],"presented":[92],"system,":[93],"MATLAB":[94],"v-rep":[96],"are":[97],"used":[98],"co-simulate":[100],"method,":[103],"12":[106],"DOF":[107],"fabricated":[111],"test":[113],"algorithm.":[115],"simulation":[117],"results":[120],"show":[121],"that":[122],"can":[125],"relative":[128],"with":[131,139],"great":[132],"margin":[133],"absolute":[136],"high":[140],"precision.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}