{"id":"https://openalex.org/W2738036472","doi":"https://doi.org/10.1109/icra.2017.7989703","title":"High-rate controlled turning with a pair of miniature legged robots","display_name":"High-rate controlled turning with a pair of miniature legged robots","publication_year":2017,"publication_date":"2017-05-01","ids":{"openalex":"https://openalex.org/W2738036472","doi":"https://doi.org/10.1109/icra.2017.7989703","mag":"2738036472"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2017.7989703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","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/A5000423233","display_name":"TaeWon Seo","orcid":"https://orcid.org/0000-0001-9447-7675"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"TaeWon Seo","raw_affiliation_strings":["Mechanical Engineering Department, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047329069","display_name":"Carlos S. Casarez","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlos S. Casarez","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald S. Fearing","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering and Computer Sciences, University of California, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1313,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.48281315,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"5962","last_page":"5968"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9807000160217285,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9796000123023987,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7425965070724487},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5531934499740601},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29890331625938416}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7425965070724487},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5531934499740601},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29890331625938416}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2017.7989703","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2017.7989703","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/17","score":0.47999998927116394,"display_name":"Partnerships for the goals"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320309411","display_name":"University of California Berkeley","ror":"https://ror.org/01an7q238"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W876789398","https://openalex.org/W945940369","https://openalex.org/W1527751191","https://openalex.org/W1545542339","https://openalex.org/W1553795160","https://openalex.org/W1572242294","https://openalex.org/W1668333308","https://openalex.org/W1835971036","https://openalex.org/W1991593444","https://openalex.org/W1996337547","https://openalex.org/W1998227924","https://openalex.org/W2015887525","https://openalex.org/W2017263399","https://openalex.org/W2043800088","https://openalex.org/W2048938552","https://openalex.org/W2054148274","https://openalex.org/W2070876714","https://openalex.org/W2084772888","https://openalex.org/W2096169664","https://openalex.org/W2112978907","https://openalex.org/W2118717416","https://openalex.org/W2121666081","https://openalex.org/W2130927520","https://openalex.org/W2145311131","https://openalex.org/W2147085616","https://openalex.org/W2174423225","https://openalex.org/W2415498964","https://openalex.org/W4252403930","https://openalex.org/W4254720880","https://openalex.org/W6624932236","https://openalex.org/W6677908636"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Legged":[0],"robots":[1,30,61,98,129],"can":[2],"explore":[3],"unstructured":[4],"environments":[5],"more":[6],"effectively":[7],"than":[8,108],"wheeled":[9],"robots,":[10],"but":[11,36],"high":[12,33],"turning":[13],"rate":[14],"tracking":[15],"is":[16,124],"still":[17],"a":[18,40,48,53,64,68,120,132,137],"challenging":[19],"problem,":[20],"particularly":[21],"on":[22,39,114,126,136],"varying":[23],"surfaces.":[24,44,116],"Previous":[25],"steering":[26,52,118],"methods":[27],"with":[28],"small":[29],"have":[31],"shown":[32],"turn":[34,105],"rates,":[35],"usually":[37],"only":[38],"limited":[41],"set":[42],"of":[43,90,94],"This":[45],"paper":[46],"proposes":[47],"new":[49],"method":[50],"for":[51,83],"miniaturized":[54],"legged":[55,72],"robot":[56],"by":[57,63],"cooperation":[58,85],"between":[59],"two":[60],"connected":[62,128],"compliant":[65],"joint,":[66],"creating":[67],"73":[69],"gram,":[70],"12":[71],"robot.":[73],"Detailed":[74],"design":[75],"issues":[76],"and":[77],"an":[78],"empirical":[79],"verification":[80],"are":[81],"presented":[82],"several":[84],"strategies,":[86],"including":[87],"changing":[88],"velocities":[89],"the":[91,127],"4":[92],"sets":[93],"leg":[95],"triples.":[96],"The":[97],"use":[99],"their":[100],"combined":[101],"traction":[102],"forces":[103],"to":[104,130],"at":[106,111],"better":[107],"50":[109],"degrees/sec":[110],"1":[112],"m/sec":[113],"various":[115],"Closed-loop":[117],"using":[119],"differential":[121],"drive":[122],"strategy":[123],"implemented":[125],"track":[131],"\u201cfigure":[133],"8\u201d":[134],"trajectory":[135],"tile":[138],"surface.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}