{"id":"https://openalex.org/W2132575968","doi":"https://doi.org/10.1109/icra.2011.5979733","title":"Dynamic control of the Quattro robot by the leg edges","display_name":"Dynamic control of the Quattro robot by the leg edges","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132575968","doi":"https://doi.org/10.1109/icra.2011.5979733","mag":"2132575968"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5102824837","display_name":"Erol \u00d6zg\u00fcr","orcid":"https://orcid.org/0000-0001-5946-1213"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143836","display_name":"Clermont Universit\u00e9","ror":"https://ror.org/03yf5zr20","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143836"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Erol Ozgur","raw_affiliation_strings":["LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210143836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004799765","display_name":"Nicolas Bouton","orcid":"https://orcid.org/0000-0001-5673-5979"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143836","display_name":"Clermont Universit\u00e9","ror":"https://ror.org/03yf5zr20","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143836"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Bouton","raw_affiliation_strings":["LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210143836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110273911","display_name":"Nicolas Andreff","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I2802759292","display_name":"Franche-Comt\u00e9 \u00c9lectronique M\u00e9canique Thermique et Optique - Sciences et Technologies","ror":"https://ror.org/004fmxv66","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I2802759292","https://openalex.org/I37553959","https://openalex.org/I4210095849","https://openalex.org/I4405256580","https://openalex.org/I53262699"]},{"id":"https://openalex.org/I4210143836","display_name":"Clermont Universit\u00e9","ror":"https://ror.org/03yf5zr20","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143836"]},{"id":"https://openalex.org/I90843659","display_name":"Universit\u00e9 de Franche-Comt\u00e9","ror":"https://ror.org/03pcc9z86","country_code":"FR","type":"education","lineage":["https://openalex.org/I90843659"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Andreff","raw_affiliation_strings":["FEMTO-ST Institute, Universita de Franche-Comt\u00e9, Besancon, France","LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"FEMTO-ST Institute, Universita de Franche-Comt\u00e9, Besancon, France","institution_ids":["https://openalex.org/I2802759292","https://openalex.org/I90843659"]},{"raw_affiliation_string":"LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210143836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019929775","display_name":"Philippe Martinet","orcid":"https://orcid.org/0000-0001-5827-0431"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I4210143836","display_name":"Clermont Universit\u00e9","ror":"https://ror.org/03yf5zr20","country_code":"FR","type":"education","lineage":["https://openalex.org/I4210143836"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Martinet","raw_affiliation_strings":["LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LASMEA-CNRS, Clermont Universit\u00e9, Clermont Ferrand, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I4210143836"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"16","issue":null,"first_page":"2731","last_page":"2736"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9984999895095825,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9980000257492065,"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/robot","display_name":"Robot","score":0.7074238061904907},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5736415386199951},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.5164656639099121},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49667221307754517},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44534415006637573},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44474586844444275},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.43748387694358826},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.4245452582836151},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.41795480251312256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3890407085418701},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.36865514516830444},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3532540798187256},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3473079204559326},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15623995661735535},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.12915492057800293}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7074238061904907},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5736415386199951},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.5164656639099121},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49667221307754517},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44534415006637573},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44474586844444275},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.43748387694358826},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.4245452582836151},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.41795480251312256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3890407085418701},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36865514516830444},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3532540798187256},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3473079204559326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15623995661735535},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.12915492057800293},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5979733","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979733","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W127300325","https://openalex.org/W1557098279","https://openalex.org/W1559749952","https://openalex.org/W1585121301","https://openalex.org/W1969140852","https://openalex.org/W1977845698","https://openalex.org/W2002492977","https://openalex.org/W2017737116","https://openalex.org/W2038980909","https://openalex.org/W2095646014","https://openalex.org/W2103339703","https://openalex.org/W2113593897","https://openalex.org/W2119709428","https://openalex.org/W2129715521","https://openalex.org/W2156543308","https://openalex.org/W2170766533","https://openalex.org/W2266380092","https://openalex.org/W2312644716","https://openalex.org/W3029672635","https://openalex.org/W3163456722","https://openalex.org/W4206820429","https://openalex.org/W4256526535","https://openalex.org/W4381926419","https://openalex.org/W6605083222","https://openalex.org/W6660348161","https://openalex.org/W6777915763","https://openalex.org/W6844149850"],"related_works":["https://openalex.org/W2229293290","https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W1540467731","https://openalex.org/W218732962","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W1979383880"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"variable":[3],"selection":[4,27],"for":[5,74],"the":[6,11,39,42,57,61,64,75,79,82,86,93],"efficient":[7],"dynamic":[8,18],"control":[9,84,91],"of":[10,23,33,41,63,81,89,92],"Quattro":[12,94],"parallel":[13,50],"robot":[14,51,95],"through":[15],"an":[16],"inverse":[17],"model":[19],"expressed":[20],"by":[21],"means":[22],"leg":[24],"orientations.":[25],"A":[26],"is":[28,70],"made":[29],"within":[30],"a":[31,49],"group":[32],"variables":[34],"where":[35],"each":[36],"can":[37],"imply":[38],"state":[40],"robot.":[43],"Besides,":[44],"in":[45,68],"this":[46],"work,":[47],"steering":[48],"dynamically":[52],"using":[53],"its":[54],"self-projection":[55],"onto":[56],"image":[58],"plane":[59],"(where":[60],"edges":[62],"lower-legs":[65],"are":[66,96],"exploited":[67],"control)":[69],"proposed":[71],"and":[72],"validated":[73],"first":[76],"time.":[77],"In":[78],"light":[80],"realistic":[83],"simulation,":[85],"formative":[87],"points":[88],"better":[90],"figured":[97],"out.":[98]},"counts_by_year":[{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
