{"id":"https://openalex.org/W4220731268","doi":"https://doi.org/10.1109/icmre54455.2022.9734076","title":"Structure Design and Motion Control of a Hybrid Quadruped Robot with Wheels and Legs","display_name":"Structure Design and Motion Control of a Hybrid Quadruped Robot with Wheels and Legs","publication_year":2022,"publication_date":"2022-02-10","ids":{"openalex":"https://openalex.org/W4220731268","doi":"https://doi.org/10.1109/icmre54455.2022.9734076"},"language":"en","primary_location":{"id":"doi:10.1109/icmre54455.2022.9734076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmre54455.2022.9734076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","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/A5101967047","display_name":"Haolin Zhang","orcid":"https://orcid.org/0000-0001-6178-7431"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I201532990","display_name":"Tianjin Foreign Studies University","ror":"https://ror.org/057hdmq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I201532990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haolin Zhang","raw_affiliation_strings":["Engineering Tianjin University,School of Mechanical,Tianjin,China","School of Mechanical, Engineering Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Tianjin University,School of Mechanical,Tianjin,China","institution_ids":["https://openalex.org/I162868743","https://openalex.org/I201532990"]},{"raw_affiliation_string":"School of Mechanical, Engineering Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043582659","display_name":"Zheming Zhuang","orcid":"https://orcid.org/0000-0002-2016-7145"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I201532990","display_name":"Tianjin Foreign Studies University","ror":"https://ror.org/057hdmq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I201532990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheming Zhuang","raw_affiliation_strings":["Engineering Tianjin University,School of Mechanical,Tianjin,China","School of Mechanical, Engineering Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Tianjin University,School of Mechanical,Tianjin,China","institution_ids":["https://openalex.org/I162868743","https://openalex.org/I201532990"]},{"raw_affiliation_string":"School of Mechanical, Engineering Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100323643","display_name":"Wei Wei","orcid":"https://orcid.org/0000-0001-6107-4327"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I201532990","display_name":"Tianjin Foreign Studies University","ror":"https://ror.org/057hdmq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I201532990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wei","raw_affiliation_strings":["Engineering Tianjin University,School of Mechanical,Tianjin,China","School of Mechanical, Engineering Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Tianjin University,School of Mechanical,Tianjin,China","institution_ids":["https://openalex.org/I162868743","https://openalex.org/I201532990"]},{"raw_affiliation_string":"School of Mechanical, Engineering Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065982722","display_name":"Yuntao Guan","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I201532990","display_name":"Tianjin Foreign Studies University","ror":"https://ror.org/057hdmq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I201532990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuntao Guan","raw_affiliation_strings":["Engineering Tianjin University,School of Mechanical,Tianjin,China","School of Mechanical, Engineering Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Tianjin University,School of Mechanical,Tianjin,China","institution_ids":["https://openalex.org/I162868743","https://openalex.org/I201532990"]},{"raw_affiliation_string":"School of Mechanical, Engineering Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741015","display_name":"Jingfu Li","orcid":"https://orcid.org/0000-0002-0079-9129"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]},{"id":"https://openalex.org/I201532990","display_name":"Tianjin Foreign Studies University","ror":"https://ror.org/057hdmq26","country_code":"CN","type":"education","lineage":["https://openalex.org/I201532990"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfu Li","raw_affiliation_strings":["Engineering Tianjin University,School of Mechanical,Tianjin,China","School of Mechanical, Engineering Tianjin University, Tianjin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Tianjin University,School of Mechanical,Tianjin,China","institution_ids":["https://openalex.org/I162868743","https://openalex.org/I201532990"]},{"raw_affiliation_string":"School of Mechanical, Engineering Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102433381","display_name":"Jiansheng Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jiansheng Dai","raw_affiliation_strings":["King's College London,Centre for Robotics Research,London,UK","Centre for Robotics Research, King's College London, London, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"King's College London,Centre for Robotics Research,London,UK","institution_ids":["https://openalex.org/I183935753"]},{"raw_affiliation_string":"Centre for Robotics Research, King's College London, London, UK","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"122","last_page":"128"},"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":0.9434999823570251,"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":0.9108999967575073,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6522965431213379},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6243519186973572},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.47060805559158325},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46218857169151306},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4598565697669983},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45157402753829956},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4481394588947296},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2634672522544861},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2127869725227356}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6522965431213379},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6243519186973572},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.47060805559158325},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46218857169151306},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4598565697669983},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45157402753829956},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4481394588947296},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2634672522544861},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2127869725227356},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icmre54455.2022.9734076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmre54455.2022.9734076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 8th International Conference on Mechatronics and Robotics Engineering (ICMRE)","raw_type":"proceedings-article"},{"id":"pmh:oai:kclpure.kcl.ac.uk:publications/9c0db3c3-6b99-4067-9eb4-3c9da7244593","is_oa":false,"landing_page_url":"http://www.scopus.com/inward/record.url?scp=85128371879&partnerID=8YFLogxK","pdf_url":null,"source":{"id":"https://openalex.org/S4306400216","display_name":"Research Portal (King's College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I183935753","host_organization_name":"King's College London","host_organization_lineage":["https://openalex.org/I183935753"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Zhang, H, Zhuang, Z, Wei, W, Guan, Y, Li, J & Dai, J 2022, Structure Design and Motion Control of a Hybrid Quadruped Robot with Wheels and Legs. in 2022 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022. 2022 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022, Institute of Electrical and Electronics Engineers Inc., pp. 122-128, 8th International Conference on Mechatronics and Robotics Engineering, ICMRE 2022, Virtual, Munich, Germany, 10/02/2022. https://doi.org/10.1109/ICMRE54455.2022.9734076","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.6600000262260437}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W2005805981","https://openalex.org/W2097780018","https://openalex.org/W2738173023","https://openalex.org/W2846645011","https://openalex.org/W2968213087","https://openalex.org/W2969550664","https://openalex.org/W3195521367"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W2972304526","https://openalex.org/W2101598871","https://openalex.org/W2109003837","https://openalex.org/W4312096302","https://openalex.org/W2005471069","https://openalex.org/W2119963650","https://openalex.org/W2075639008"],"abstract_inverted_index":{"As":[0],"a":[1,14,74,94],"type":[2],"of":[3,18,48,64,71,89,109,118,122,134,145,153,158,173,181,201],"modern":[4],"bionic":[5],"robot,":[6,53],"the":[7,44,49,57,61,69,87,90,100,110,116,119,128,131,135,142,146,154,159,171,174,191,199,202],"wheel-leg":[8,50,77,81,156,160],"hybrid":[9,51,78,161],"quadruped":[10,52,79,162],"robot":[11,80,111,163],"has":[12],"become":[13],"popular":[15],"research":[16,46],"focus":[17],"related":[19,45],"scholars":[20],"both":[21],"at":[22],"home":[23],"and":[24,34,42,68,92,106,150,184],"abroad.":[25],"This":[26,38],"is":[27,83,97,138,195],"due":[28],"to":[29,140,169,197],"its":[30],"flexible":[31],"motion":[32,211],"performance":[33],"strong":[35],"environmental":[36],"adaptability.":[37],"article":[39],"first":[40],"summarises":[41],"analyses":[43],"results":[47],"especially":[54],"focusing":[55],"on":[56,86],"leg":[58,136],"structure.":[59],"Mirroring":[60],"movement":[62,143],"characteristics":[63,70,144],"quadrupeds":[65],"in":[66,125,188],"nature":[67],"bone":[72],"structure,":[73],"relatively":[75],"novel":[76],"structure":[82,121,137,157],"proposed.":[84],"Based":[85],"combination":[88],"wheels":[91],"legs,":[93],"parallel":[95],"mechanism":[96],"adopted":[98],"as":[99],"structural":[101],"design.":[102],"The":[103,148],"carrying":[104],"capacity":[105],"overall":[107],"rigidity":[108],"are":[112],"improved":[113],"by":[114],"replicating":[115],"composition":[117],"skeletal":[120],"four-legged":[123],"creatures":[124],"nature.":[126],"At":[127],"same":[129],"time,":[130],"kinematic":[132,149],"model":[133],"established":[139],"analyse":[141],"robot.":[147],"dynamic":[151],"simulation":[152],"single":[155],"were":[164],"performed":[165],"using":[166],"ADAMS":[167,189],"software":[168],"verify":[170,198],"accuracy":[172],"mathematical":[175],"model.":[176],"By":[177],"setting":[178],"two":[179],"methods":[180],"sine":[182],"drive":[183,187],"STEP":[185],"function":[186],"software,":[190],"designed":[192,203],"gait":[193,204],"sequence":[194],"simulated":[196],"stability":[200],"when":[205],"walking.":[206],"Provide":[207],"reference":[208],"basis":[209],"for":[210],"control.":[212]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}