{"id":"https://openalex.org/W3207039404","doi":"https://doi.org/10.1109/icra48506.2021.9560781","title":"Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control","display_name":"Configuration Transformation of the Wheel-Legged Robot Using Inverse Dynamics Control","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207039404","doi":"https://doi.org/10.1109/icra48506.2021.9560781","mag":"3207039404"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5100732213","display_name":"Haitao Zhou","orcid":"https://orcid.org/0000-0001-9809-6036"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haitao Zhou","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101957912","display_name":"Haoyang Yu","orcid":"https://orcid.org/0000-0002-7665-1462"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoyang Yu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100741485","display_name":"Xu Li","orcid":"https://orcid.org/0000-0001-6119-7757"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu Li","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062157236","display_name":"Haibo Feng","orcid":"https://orcid.org/0000-0001-9979-9454"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibo Feng","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084153714","display_name":"Songyuan Zhang","orcid":"https://orcid.org/0000-0001-9837-098X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songyuan Zhang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008597054","display_name":"Yili Fu","orcid":"https://orcid.org/0000-0003-2075-2384"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yili Fu","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150001","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100732213"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.752,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.67575967,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"3091","last_page":"3096"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"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":0.9987999796867371,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.8065053224563599},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.6499989628791809},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.614778459072113},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.6102899312973022},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5886170864105225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5463703870773315},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5202349424362183},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.46158578991889954},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4555860161781311},{"id":"https://openalex.org/keywords/vehicle-dynamics","display_name":"Vehicle dynamics","score":0.45047271251678467},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.44192183017730713},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.416471004486084},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4143616259098053},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3660730719566345},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23926809430122375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21128982305526733},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.18179398775100708},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15919417142868042},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1242588460445404},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11228621006011963},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09030774235725403},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07502394914627075},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.06957012414932251}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.8065053224563599},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.6499989628791809},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.614778459072113},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.6102899312973022},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5886170864105225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5463703870773315},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5202349424362183},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.46158578991889954},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4555860161781311},{"id":"https://openalex.org/C79487989","wikidata":"https://www.wikidata.org/wiki/Q934680","display_name":"Vehicle dynamics","level":2,"score":0.45047271251678467},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.44192183017730713},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.416471004486084},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4143616259098053},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3660730719566345},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23926809430122375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21128982305526733},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.18179398775100708},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15919417142868042},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1242588460445404},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11228621006011963},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09030774235725403},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07502394914627075},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.06957012414932251},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560781","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560781","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1941843239","https://openalex.org/W1992338761","https://openalex.org/W1999636742","https://openalex.org/W2016706498","https://openalex.org/W2017792809","https://openalex.org/W2120499270","https://openalex.org/W2123224804","https://openalex.org/W2136310975","https://openalex.org/W2145401835","https://openalex.org/W2168014189","https://openalex.org/W2168164612","https://openalex.org/W2925761457","https://openalex.org/W2959825853","https://openalex.org/W2967863637","https://openalex.org/W2968031102","https://openalex.org/W3003894605","https://openalex.org/W3010920830","https://openalex.org/W3012010640","https://openalex.org/W3104695585","https://openalex.org/W3105570727"],"related_works":["https://openalex.org/W1984371453","https://openalex.org/W2003481213","https://openalex.org/W2064522943","https://openalex.org/W635149033","https://openalex.org/W2291700020","https://openalex.org/W2295093204","https://openalex.org/W2086863125","https://openalex.org/W3096187747","https://openalex.org/W2603793748","https://openalex.org/W2216521820"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,15,36,41,81,106,124,131,138,141,144,153],"configuration":[4,21,107,113,154],"transformation":[5,108,114,155],"of":[6,39,44,47,85,102,123,135,143],"Wheel-Legged":[7],"Robot":[8],"(WLR)":[9],"is":[10,63,77,96,116,147],"studied,":[11],"which":[12],"can":[13],"enable":[14],"robot":[16],"to":[17,79,104,118,151],"change":[18],"its":[19],"multilinks":[20],"on":[22,35,137],"Inverted":[23,51],"Equilibrium":[24],"Manifold":[25],"(IEM),":[26],"while":[27,87],"keeping":[28],"balance":[29],"with":[30,54,71],"a":[31,55,72,99,120],"small":[32],"location":[33,133],"drift":[34,134],"floor.":[37,139],"First":[38],"all,":[40],"general":[42],"form":[43],"dynamics":[45,83,90],"equation":[46],"planar":[48],"Articulated":[49],"Wheeled":[50],"Pendulum":[52],"(AWIP)":[53],"wheel":[56],"and":[57,130],"n":[58],"−":[59],"1":[60],"rigid":[61],"links,":[62],"derived.":[64],"The":[65,92],"Partial":[66],"Feedback":[67],"Linearization":[68],"(PFL)":[69],"combined":[70],"Sliding":[73],"Mode":[74],"Control":[75],"(SMC)":[76],"used":[78,97],"design":[80],"inverse":[82],"controller":[84],"AWIP,":[86],"considering":[88],"full":[89],"terms.":[91],"well-known":[93],"WLR":[94,136],"model":[95],"as":[98],"simple":[100],"example":[101],"AWIP":[103],"accomplish":[105],"task.":[109,156],"An":[110],"optimization":[111,122],"based":[112],"algorithm":[115,146],"proposed":[117,145],"realize":[119],"comprehensive":[121],"shortest":[125],"path":[126],"in":[127],"joint":[128],"space":[129],"minimum":[132],"Finally,":[140],"effectiveness":[142],"demonstrated":[148],"through":[149],"simulation":[150],"implement":[152]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}