{"id":"https://openalex.org/W3206443511","doi":"https://doi.org/10.1109/icra48506.2021.9560984","title":"Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration","display_name":"Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3206443511","doi":"https://doi.org/10.1109/icra48506.2021.9560984","mag":"3206443511"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560984","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/A5018326620","display_name":"Ke Yin","orcid":"https://orcid.org/0009-0009-1792-6831"},"institutions":[{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ke Yin","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084390339","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0002-3136-1410"},"institutions":[{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101719071","display_name":"Qiao Sun","orcid":"https://orcid.org/0009-0000-3577-803X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiao Sun","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074839614","display_name":"Jimu Liu","orcid":"https://orcid.org/0000-0002-6738-6206"},"institutions":[{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jimu Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043219318","display_name":"Tao Xiao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao Xiao","raw_affiliation_strings":["Fifth Aerospace Academy,General Department,Beijing,China,100086"],"affiliations":[{"raw_affiliation_string":"Fifth Aerospace Academy,General Department,Beijing,China,100086","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100949906","display_name":"Yang Jian-zhong","orcid":"https://orcid.org/0009-0003-9993-235X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jianzhong Yang","raw_affiliation_strings":["Fifth Aerospace Academy,General Department,Beijing,China,100086"],"affiliations":[{"raw_affiliation_string":"Fifth Aerospace Academy,General Department,Beijing,China,100086","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073287017","display_name":"Shuiqing Jiang","orcid":"https://orcid.org/0000-0002-3560-546X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shuiqing Jiang","raw_affiliation_strings":["Fifth Aerospace Academy,General Department,Beijing,China,100086"],"affiliations":[{"raw_affiliation_string":"Fifth Aerospace Academy,General Department,Beijing,China,100086","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071981662","display_name":"Xianbao Chen","orcid":"https://orcid.org/0000-0003-1033-5325"},"institutions":[{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianbao Chen","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101799735","display_name":"Jing Sun","orcid":"https://orcid.org/0000-0002-1539-9371"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Sun","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009271810","display_name":"Renqiang Liu","orcid":"https://orcid.org/0000-0001-6456-812X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Renqiang Liu","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008092960","display_name":"Chenkun Qi","orcid":"https://orcid.org/0000-0002-7545-1338"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]},{"id":"https://openalex.org/I4391768146","display_name":"State Key Laboratory of Mechanical System and Vibration","ror":"https://ror.org/02hphne60","country_code":null,"type":"facility","lineage":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenkun Qi","raw_affiliation_strings":["Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University,State Key Laboratory of Mechanical System and Vibration,Department of Mechanical Engineering,Shanghai,China,200240","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5018326620"],"corresponding_institution_ids":["https://openalex.org/I183067930","https://openalex.org/I4391768146"],"apc_list":null,"apc_paid":null,"fwci":0.1671,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45275334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"670","last_page":"676"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9986000061035156,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9962000250816345,"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/soft-landing","display_name":"Soft landing","score":0.797970175743103},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6746927499771118},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.4934345781803131},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.41916424036026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40767282247543335},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.3436204791069031},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31959718465805054}],"concepts":[{"id":"https://openalex.org/C65424074","wikidata":"https://www.wikidata.org/wiki/Q2221605","display_name":"Soft landing","level":2,"score":0.797970175743103},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6746927499771118},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.4934345781803131},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.41916424036026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40767282247543335},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3436204791069031},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31959718465805054},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C139719470","wikidata":"https://www.wikidata.org/wiki/Q39680","display_name":"Macroeconomics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560984","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":[{"score":0.7400000095367432,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W128306148","https://openalex.org/W290932444","https://openalex.org/W1485672786","https://openalex.org/W1552957547","https://openalex.org/W1582866771","https://openalex.org/W1968560077","https://openalex.org/W1975230295","https://openalex.org/W1979445726","https://openalex.org/W1993448336","https://openalex.org/W2005170874","https://openalex.org/W2059557736","https://openalex.org/W2128016423","https://openalex.org/W2158401301","https://openalex.org/W2377098276","https://openalex.org/W2549216668","https://openalex.org/W2612018690","https://openalex.org/W2764255492","https://openalex.org/W2775579903","https://openalex.org/W2794897234","https://openalex.org/W2889772816","https://openalex.org/W2925163165","https://openalex.org/W2971099763","https://openalex.org/W2974226409","https://openalex.org/W3013912283","https://openalex.org/W3027249399","https://openalex.org/W3041910523","https://openalex.org/W3047774936","https://openalex.org/W3088087408","https://openalex.org/W4250058668","https://openalex.org/W6605181450","https://openalex.org/W6610526461","https://openalex.org/W6632952811","https://openalex.org/W6635036405","https://openalex.org/W6709469080","https://openalex.org/W6737184061","https://openalex.org/W6781899130"],"related_works":["https://openalex.org/W1974520045","https://openalex.org/W2025143687","https://openalex.org/W815185191","https://openalex.org/W2330823562","https://openalex.org/W2791279247","https://openalex.org/W3196757088","https://openalex.org/W3009161872","https://openalex.org/W2098282228","https://openalex.org/W3171910908","https://openalex.org/W2314498447"],"abstract_inverted_index":{"The":[0,183],"autonomous":[1],"robots":[2,20],"consisting":[3],"of":[4,41,63,85,103,125,174,180],"an":[5],"immovable":[6,65],"lander":[7,30,78,87],"and":[8,31,38,88,95,106,128,177],"a":[9,73,126,129,143,162,170,178],"rover":[10,32],"are":[11],"widely":[12],"deployed":[13],"to":[14,57,60,121,131],"explore":[15],"extraterrestrial":[16],"planets.":[17],"However,":[18],"these":[19,69],"have":[21],"two":[22],"main":[23],"limitations:":[24],"(1)":[25],"the":[26,42,47,52,61,64,83,123,133,138,153,194,200],"separate":[27],"design":[28],"for":[29,150],"respectively":[33],"results":[34],"in":[35],"heavy":[36],"mass":[37],"big":[39],"volume":[40],"whole":[43],"system,":[44],"which":[45,81],"increases":[46],"launching":[48],"cost":[49],"sharply;":[50],"(2)":[51],"rover’s":[53],"detection":[54],"area":[55],"has":[56],"be":[58],"restricted":[59],"vicinity":[62],"lander.":[66],"To":[67],"overcome":[68],"problems,":[70],"we":[71],"designed":[72],"novel":[74],"six-legged":[75],"mobile":[76],"repetitive":[77,93,159],"called":[79],"\"HexaMRL\",":[80],"integrates":[82],"functions":[84],"both":[86,104],"rover,":[89],"including":[90],"folding,":[91],"deploying,":[92],"soft-landing,":[94],"walking.":[96],"A":[97],"hybrid":[98,195],"compliant":[99,196,203],"mechanism":[100],"taking":[101],"advantages":[102],"active":[105,202],"passive":[107],"compliances":[108],"was":[109,119,155],"adopted":[110],"on":[111,147,152,161,193],"its":[112],"leg.":[113,204],"An":[114],"integrated":[115],"drive":[116,184],"unit":[117],"(IDU)":[118],"utilized":[120],"imitate":[122],"dynamics":[124],"spring":[127],"damper":[130],"absorb":[132],"landing":[134,172],"impact":[135],"energy,":[136],"while":[137],"structure":[139],"remains":[140],"intact.":[141],"Moreover,":[142],"control":[144],"method":[145],"based":[146,192],"state":[148],"machine":[149],"soft-landing":[151,160],"Moon":[154],"proposed.":[156],"HexaMRL":[157],"achieved":[158],"5-DoF":[163],"lunar":[164],"gravity":[165],"testing":[166],"platform":[167],"(5-DoF-LGTP)":[168],"with":[169,199],"vertical":[171],"velocity":[173],"1.9":[175],"m/s":[176],"payload":[179],"140":[181],"kg.":[182],"torque":[185],"safety":[186],"margin":[187],"is":[188],"improved":[189],"by":[190],"23.4%p":[191],"leg":[197],"comparing":[198],"standalone":[201]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}