{"id":"https://openalex.org/W1996510756","doi":"https://doi.org/10.1109/icinfa.2013.6720454","title":"Algorithm and implementation of joint trajectory planning for virtual robot's legs","display_name":"Algorithm and implementation of joint trajectory planning for virtual robot's legs","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W1996510756","doi":"https://doi.org/10.1109/icinfa.2013.6720454","mag":"1996510756"},"language":"en","primary_location":{"id":"doi:10.1109/icinfa.2013.6720454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","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/A5103274916","display_name":"Guanglong Wang","orcid":"https://orcid.org/0000-0002-2252-082X"},"institutions":[{"id":"https://openalex.org/I183006215","display_name":"Shijiazhuang University","ror":"https://ror.org/028rmam09","country_code":"CN","type":"education","lineage":["https://openalex.org/I183006215"]},{"id":"https://openalex.org/I4210122191","display_name":"Ordnance Engineering College","ror":"https://ror.org/02mn08y26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122191"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanglong Wang","raw_affiliation_strings":["Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":["https://openalex.org/I4210122191"]},{"raw_affiliation_string":"Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":["https://openalex.org/I183006215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102835232","display_name":"Dong Yu","orcid":"https://orcid.org/0000-0003-2874-5795"},"institutions":[{"id":"https://openalex.org/I183006215","display_name":"Shijiazhuang University","ror":"https://ror.org/028rmam09","country_code":"CN","type":"education","lineage":["https://openalex.org/I183006215"]},{"id":"https://openalex.org/I4210122191","display_name":"Ordnance Engineering College","ror":"https://ror.org/02mn08y26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122191"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Dong","raw_affiliation_strings":["Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":["https://openalex.org/I4210122191"]},{"raw_affiliation_string":"Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":["https://openalex.org/I183006215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101923157","display_name":"Tao Lai","orcid":"https://orcid.org/0000-0003-4090-0807"},"institutions":[{"id":"https://openalex.org/I183006215","display_name":"Shijiazhuang University","ror":"https://ror.org/028rmam09","country_code":"CN","type":"education","lineage":["https://openalex.org/I183006215"]},{"id":"https://openalex.org/I4210122191","display_name":"Ordnance Engineering College","ror":"https://ror.org/02mn08y26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122191"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Lai","raw_affiliation_strings":["Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":["https://openalex.org/I4210122191"]},{"raw_affiliation_string":"Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":["https://openalex.org/I183006215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016266515","display_name":"Wenjie Zhu","orcid":"https://orcid.org/0009-0008-9461-7656"},"institutions":[{"id":"https://openalex.org/I183006215","display_name":"Shijiazhuang University","ror":"https://ror.org/028rmam09","country_code":"CN","type":"education","lineage":["https://openalex.org/I183006215"]},{"id":"https://openalex.org/I4210122191","display_name":"Ordnance Engineering College","ror":"https://ror.org/02mn08y26","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210122191"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenjie Zhu","raw_affiliation_strings":["Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nanotechnology and Microsystems Laboratory, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":["https://openalex.org/I4210122191"]},{"raw_affiliation_string":"Nanotechnol. & Microsyst. Lab., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":["https://openalex.org/I183006215"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100765310","display_name":"Jianhui Chen","orcid":"https://orcid.org/0000-0002-5080-1880"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianhui Chen","raw_affiliation_strings":["Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":[]},{"raw_affiliation_string":"Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033302252","display_name":"Zhongtao Qiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhongtao Qiao","raw_affiliation_strings":["Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":[]},{"raw_affiliation_string":"Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057324363","display_name":"Fengqi Gao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fengqi Gao","raw_affiliation_strings":["Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Fourth Department, Mechanical Engineering College, Shijiazhuang, Hebei Province, China","institution_ids":[]},{"raw_affiliation_string":"Fourth Dept., Mech. Eng. Coll., Shijiazhuang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1070","last_page":"1075"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9950000047683716,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6796628832817078},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6764485239982605},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6730059385299683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5761793851852417},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5529157519340515},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5425906181335449},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5243006944656372},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5206705331802368},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5169679522514343},{"id":"https://openalex.org/keywords/servo-control","display_name":"Servo control","score":0.48791906237602234},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4713197350502014},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.45818841457366943},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.4388582408428192},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.42739367485046387},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42575234174728394},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.425731360912323},{"id":"https://openalex.org/keywords/servo","display_name":"Servo","score":0.411196768283844},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36145392060279846},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28287434577941895},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22153764963150024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19477897882461548},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1715855896472931}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6796628832817078},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6764485239982605},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6730059385299683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5761793851852417},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5529157519340515},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5425906181335449},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5243006944656372},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5206705331802368},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5169679522514343},{"id":"https://openalex.org/C32731416","wikidata":"https://www.wikidata.org/wiki/Q7455930","display_name":"Servo control","level":3,"score":0.48791906237602234},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4713197350502014},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.45818841457366943},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.4388582408428192},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.42739367485046387},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42575234174728394},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.425731360912323},{"id":"https://openalex.org/C107354338","wikidata":"https://www.wikidata.org/wiki/Q1937153","display_name":"Servo","level":2,"score":0.411196768283844},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36145392060279846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28287434577941895},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22153764963150024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19477897882461548},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1715855896472931},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icinfa.2013.6720454","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icinfa.2013.6720454","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Information and Automation (ICIA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320766","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W639663576","https://openalex.org/W1995866955","https://openalex.org/W1997480612","https://openalex.org/W1998094545","https://openalex.org/W2002803749","https://openalex.org/W2006809909","https://openalex.org/W2008272713","https://openalex.org/W2009351274","https://openalex.org/W2021508446","https://openalex.org/W2025425864","https://openalex.org/W2029349757","https://openalex.org/W2047161671","https://openalex.org/W2056290079","https://openalex.org/W2057892472","https://openalex.org/W2093535548","https://openalex.org/W2144834630","https://openalex.org/W2145477224","https://openalex.org/W2166162370","https://openalex.org/W2170828701","https://openalex.org/W6685060659"],"related_works":["https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W2744818472","https://openalex.org/W2304947037","https://openalex.org/W2139772866","https://openalex.org/W2172139062","https://openalex.org/W2291700020","https://openalex.org/W339676884","https://openalex.org/W2896762065","https://openalex.org/W2385860114"],"abstract_inverted_index":{"A":[0],"complete":[1,35],"planning":[2,11,27],"mechanism":[3,112],"was":[4,21,31,47,77,97,100],"established":[5],"to":[6],"improve":[7],"efficiency":[8,116],"of":[9,12,18,38,44,56,74,82,104],"trajectory":[10,69],"biped":[13,40,75],"robot.":[14,41],"The":[15,42,71,85],"kinematic":[16,36],"model":[17,37,73],"robot's":[19,29],"legs":[20,30],"built":[22,78],"by":[23,49,61,79,102],"D-H":[24],"method.":[25],"Trajectory":[26],"for":[28],"finished":[32],"based":[33,65],"on":[34,66],"the":[39,45,67,80,92,111],"stability":[43],"robot":[46,76],"improved":[48],"adding":[50],"multiple":[51],"geometrical":[52],"constraints.":[53],"Rotation":[54],"angles":[55],"each":[57],"joint":[58],"were":[59],"obtained":[60],"solving":[62],"equation":[63],"sets":[64],"planned":[68],"equations.":[70],"3D":[72],"software":[81,96,103],"3DS":[83],"MAX.":[84],"servo":[86,89],"interface":[87],"between":[88],"drivers":[90],"and":[91],"virtual":[93],"motion":[94],"control":[95,123],"created":[98],"which":[99],"programmed":[101],"Visual":[105],"Studio.":[106],"Experiment":[107],"results":[108],"indicate":[109],"that":[110],"can":[113],"promote":[114],"working":[115],"greatly":[117],"as":[118,120],"well":[119],"having":[121],"good":[122],"performance.":[124]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
