{"id":"https://openalex.org/W1584007949","doi":"https://doi.org/10.1109/icra.2015.7139921","title":"Model-based dynamic gait generation for a leg-wheel transformable robot","display_name":"Model-based dynamic gait generation for a leg-wheel transformable robot","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1584007949","doi":"https://doi.org/10.1109/icra.2015.7139921","mag":"1584007949"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5110313699","display_name":"Hung-Sheng Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hung-Sheng Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036392106","display_name":"Wei-Hsi Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Hsi Chen","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062487478","display_name":"Pei\u2010Chun Lin","orcid":"https://orcid.org/0000-0001-9146-3817"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Pei-Chun Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, 106, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":2.3968,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.86851959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"202","issue":null,"first_page":"5184","last_page":"5190"},"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":0.9976000189781189,"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":0.9815000295639038,"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/robot","display_name":"Robot","score":0.7045068740844727},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5709589719772339},{"id":"https://openalex.org/keywords/torsion-spring","display_name":"Torsion spring","score":0.5193489789962769},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5118783712387085},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5099588632583618},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.48185622692108154},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4792749583721161},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4515390694141388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4510757327079773},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.43365541100502014},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4210554361343384},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2807788848876953},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.24541229009628296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09926825761795044},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06653159856796265}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7045068740844727},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5709589719772339},{"id":"https://openalex.org/C57614664","wikidata":"https://www.wikidata.org/wiki/Q27037480","display_name":"Torsion spring","level":2,"score":0.5193489789962769},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5118783712387085},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5099588632583618},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.48185622692108154},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4792749583721161},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4515390694141388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4510757327079773},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.43365541100502014},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4210554361343384},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2807788848876953},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.24541229009628296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09926825761795044},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06653159856796265},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2015.7139921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139921","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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":20,"referenced_works":["https://openalex.org/W1822001265","https://openalex.org/W1977505238","https://openalex.org/W1978102433","https://openalex.org/W1997291838","https://openalex.org/W2019761348","https://openalex.org/W2024084391","https://openalex.org/W2031352735","https://openalex.org/W2054186704","https://openalex.org/W2056679719","https://openalex.org/W2059735320","https://openalex.org/W2064736763","https://openalex.org/W2073133507","https://openalex.org/W2077150991","https://openalex.org/W2077676902","https://openalex.org/W2094496385","https://openalex.org/W2126677924","https://openalex.org/W2129224530","https://openalex.org/W2145705329","https://openalex.org/W2146139464","https://openalex.org/W6658620081"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2129850190","https://openalex.org/W2350715914","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W2101175215","https://openalex.org/W1859914877"],"abstract_inverted_index":{"We":[0],"report":[1],"on":[2,69,88],"the":[3,27,34,39,44,52,57,63,74,79,89,94,101,112],"model-based":[4,105],"approach":[5,106],"to":[6,38,50,56,72,92,98,107],"dynamic":[7,108],"trotting":[8],"and":[9],"pronking":[10,125],"gait":[11,126],"generation":[12,110],"for":[13,29,111],"a":[14,85,128],"leg-wheel":[15,90,95],"transformable":[16],"robot.":[17],"The":[18,117],"rolling":[19],"spring-loaded":[20],"inverted":[21],"pendulum":[22],"(R-SLIP)":[23],"model":[24,59,81,102],"served":[25],"as":[26],"template":[28],"robot":[30,53,113,118],"locomotion":[31],"by":[32],"programming":[33],"robot's":[35],"motion":[36],"according":[37],"stable":[40,124],"fixed-point":[41],"trajectories":[42],"of":[43,67,78,100],"model.":[45],"Two":[46],"strategies":[47],"are":[48],"developed":[49],"match":[51],"leg":[54,71],"motions":[55],"virtual":[58],"leg:":[60],"First,":[61],"using":[62],"two":[64],"active":[65],"degrees":[66],"freedom":[68],"each":[70],"simulate":[73],"passive":[75],"spring":[76,87],"effect":[77],"R-SLIP":[80],"leg.":[82,103],"Second,":[83],"installing":[84],"torsion":[86],"module":[91],"render":[93],"morphology":[96],"identical":[97],"that":[99],"This":[104],"behavior":[109],"is":[114],"experimentally":[115],"evaluated.":[116],"can":[119],"successfully":[120],"generate":[121],"an":[122],"R-SLIP-like":[123],"with":[127],"flight":[129],"phase.":[130]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}