{"id":"https://openalex.org/W2162785001","doi":"https://doi.org/10.1109/icra.2011.5980321","title":"A novel 6-DoF biped active walking robot &amp;#x2014; Walking gaits, patterns and experiments","display_name":"A novel 6-DoF biped active walking robot &amp;#x2014; Walking gaits, patterns and experiments","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2162785001","doi":"https://doi.org/10.1109/icra.2011.5980321","mag":"2162785001"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5980321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980321","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":"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/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101588754","display_name":"Xuefeng Zhou","orcid":"https://orcid.org/0000-0003-1642-2059"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuefeng Zhou","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006956791","display_name":"Li Jiang","orcid":"https://orcid.org/0000-0003-1740-5525"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Li Jiang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041311855","display_name":"Chuanwu Cai","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chuanwu Cai","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101469051","display_name":"Xianmin Zhang","orcid":"https://orcid.org/0000-0001-9472-3151"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianmin Zhang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100636570","display_name":"Zhang Hong","orcid":"https://orcid.org/0000-0003-4522-7594"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]},{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA","CN"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","Department of Computing Science, University of Alberta, Edmonton, AB, Canada"],"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory (BIRL), School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou, Guangdong, China","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, AB, Canada","institution_ids":["https://openalex.org/I154425047"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5013471002"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.17102196,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3542","last_page":"3547"},"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":0.9929999709129333,"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":0.9510999917984009,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7391796112060547},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6942054629325867},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.625586211681366},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5634344816207886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5399612784385681},{"id":"https://openalex.org/keywords/preferred-walking-speed","display_name":"Preferred walking speed","score":0.4721168279647827},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45418915152549744},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42389604449272156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3376529812812805},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21643710136413574},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12609216570854187},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06551417708396912},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06463652849197388}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7391796112060547},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6942054629325867},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.625586211681366},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5634344816207886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5399612784385681},{"id":"https://openalex.org/C70770792","wikidata":"https://www.wikidata.org/wiki/Q7239848","display_name":"Preferred walking speed","level":2,"score":0.4721168279647827},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45418915152549744},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42389604449272156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3376529812812805},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21643710136413574},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12609216570854187},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06551417708396912},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06463652849197388},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2011.5980321","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5980321","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1980065440","https://openalex.org/W1996763811","https://openalex.org/W2000535285","https://openalex.org/W2026619598","https://openalex.org/W2051287096","https://openalex.org/W2109051161","https://openalex.org/W2117899662","https://openalex.org/W2122677186","https://openalex.org/W2125193285","https://openalex.org/W2127763473","https://openalex.org/W2132030382","https://openalex.org/W2133325641","https://openalex.org/W2138671676","https://openalex.org/W2161439626","https://openalex.org/W2163668399","https://openalex.org/W6678669206","https://openalex.org/W6679810102","https://openalex.org/W6684164338"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W2532934974","https://openalex.org/W2965229072","https://openalex.org/W2547001673","https://openalex.org/W3036227703","https://openalex.org/W4384824586","https://openalex.org/W2516761344","https://openalex.org/W2909351964"],"abstract_inverted_index":{"Combining":[0],"the":[1,35,94,97,100,106],"advantages":[2],"of":[3,46,99,108],"active":[4,14,119],"and":[5,31,59,71,76,80,85,103,129],"passive":[6],"walking":[7,16,61,78,120],"robots,":[8],"we":[9],"have":[10],"developed":[11],"a":[12,126],"novel":[13,54,110],"biped":[15,48,55,111,118],"robot":[17,23,56],"with":[18,26,124],"only":[19,125],"six":[20,27],"DoFs.":[21],"The":[22],"is":[24,57],"built":[25],"1-DoF":[28],"joint":[29],"modules":[30],"two":[32],"wheels":[33],"as":[34],"feet.":[36],"It":[37,113],"achieves":[38],"locomotion":[39,95],"in":[40],"special":[41],"gaits":[42,102],"different":[43],"from":[44],"those":[45],"traditional":[47],"robots.":[49],"In":[50],"this":[51,53,109],"paper,":[52],"introduced,":[58],"four":[60],"gaits,":[62],"namely":[63],"turning-around":[64],"gait,":[65,68],"foot-wheel":[66],"hybrid":[67],"side-stepping":[69],"gait":[70,73],"turning-over":[72],"are":[74,83,89],"proposed,":[75],"their":[77],"patterns":[79],"motion":[81],"planning":[82],"presented":[84,101],"analyzed.":[86],"Walking":[87],"experiments":[88],"carried":[90],"out":[91],"to":[92,104],"verify":[93],"function,":[96],"effectiveness":[98],"illustrate":[105],"features":[107],"robot.":[112],"has":[114],"been":[115],"shown":[116],"that":[117],"may":[121],"be":[122],"achieved":[123],"few":[127],"DoFs":[128],"simple":[130],"kinematic":[131],"configuration.":[132]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
