{"id":"https://openalex.org/W3207636913","doi":"https://doi.org/10.1109/icra48506.2021.9561184","title":"Locomotion and Control of a Friction-Driven Tripedal Robot","display_name":"Locomotion and Control of a Friction-Driven Tripedal Robot","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207636913","doi":"https://doi.org/10.1109/icra48506.2021.9561184","mag":"3207636913"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561184","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/A5063086587","display_name":"Mark Hermes","orcid":"https://orcid.org/0000-0002-4053-4264"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mark Hermes","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066584627","display_name":"Taylor McLaughlin","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taylor McLaughlin","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077636450","display_name":"Mitul Luhar","orcid":"https://orcid.org/0000-0002-7970-9762"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mitul Luhar","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024050690","display_name":"Quan Nguyen","orcid":"https://orcid.org/0000-0001-8620-0561"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Quan Nguyen","raw_affiliation_strings":["Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA"],"affiliations":[{"raw_affiliation_string":"Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5063086587"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":0.1671,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45343106,"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":"2170","last_page":"2176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9995999932289124,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9991000294685364,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9977999925613403,"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/chassis","display_name":"Chassis","score":0.6402344107627869},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6354405283927917},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6163464784622192},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5348094701766968},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.5345999598503113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5301212668418884},{"id":"https://openalex.org/keywords/servomotor","display_name":"Servomotor","score":0.5287030935287476},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5154715180397034},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4393235445022583},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.425612211227417},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.4148784875869751},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3882827162742615},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3267323970794678},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31261444091796875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2667503356933594},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13623178005218506},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13083872199058533}],"concepts":[{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.6402344107627869},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6354405283927917},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6163464784622192},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5348094701766968},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.5345999598503113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5301212668418884},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5287030935287476},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5154715180397034},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4393235445022583},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.425612211227417},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.4148784875869751},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3882827162742615},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3267323970794678},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31261444091796875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2667503356933594},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13623178005218506},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13083872199058533},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561184","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":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4099999964237213}],"awards":[],"funders":[{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W40557980","https://openalex.org/W122424731","https://openalex.org/W172978656","https://openalex.org/W1561518622","https://openalex.org/W1982054441","https://openalex.org/W1983445055","https://openalex.org/W1988302269","https://openalex.org/W1992183677","https://openalex.org/W2068793240","https://openalex.org/W2076716179","https://openalex.org/W2094255102","https://openalex.org/W2097815265","https://openalex.org/W2112248762","https://openalex.org/W2153070244","https://openalex.org/W2154445928","https://openalex.org/W2157779618","https://openalex.org/W2165245999","https://openalex.org/W2172157220","https://openalex.org/W2607360051","https://openalex.org/W2738259110","https://openalex.org/W2771378810","https://openalex.org/W6604963251","https://openalex.org/W6606995664"],"related_works":["https://openalex.org/W2077728074","https://openalex.org/W2984509520","https://openalex.org/W2057244293","https://openalex.org/W2089306986","https://openalex.org/W1589486833","https://openalex.org/W2365191442","https://openalex.org/W2116883285","https://openalex.org/W2491036639","https://openalex.org/W2359834440","https://openalex.org/W3086276429"],"abstract_inverted_index":{"This":[0,80],"paper":[1],"presents":[2],"a":[3,12,26,56,69,106,119,174,179],"novel":[4],"omnidirectional":[5,88],"gait":[6,89],"design":[7],"and":[8,37],"feedback":[9,109,129,156],"control":[10,110],"of":[11,35,77,151,183],"radially":[13],"symmetric":[14],"tripedal":[15],"friction-driven":[16],"robot.":[17],"The":[18],"robot":[19,61,93,115,146],"features":[20],"3":[21],"servo":[22],"motors":[23,42],"mounted":[24],"on":[25,50,68,100],"3-D":[27],"printed":[28],"chassis":[29],"7":[30],"cm":[31],"from":[32,157],"the":[33,51,60,75,78,92,114,127,132,142,149,196],"center":[34],"mass":[36],"separated":[38],"120":[39],"degrees.":[40],"These":[41],"drive":[43],"limbs,":[44],"which":[45,73],"impart":[46],"frictional":[47],"reactive":[48],"forces":[49],"body.":[52],"We":[53,138],"first":[54],"introduce":[55,105],"mathematical":[57],"model":[58,81],"for":[59,148,169],"motion,":[62],"then":[63,83],"show":[64],"experimental":[65],"observations":[66],"performed":[67],"uniform":[70],"friction":[71],"surface,":[72],"validated":[74],"accuracy":[76],"model.":[79],"was":[82],"used":[84],"to":[85,94,116,167,195],"create":[86],"an":[87,158],"that":[90,112],"allows":[91],"translate":[95],"in":[96,144],"any":[97],"direction.":[98],"Based":[99],"this":[101],"gait,":[102],"we":[103],"also":[104,165],"Proportional-Integral":[107],"(PI)":[108],"framework":[111],"enables":[113],"closely":[117],"follow":[118],"desired":[120],"path.":[121],"Contrasting":[122],"with":[123,178],"feedforward":[124],"motion":[125],"generation,":[126],"proposed":[128],"controller":[130,163],"reduced":[131],"tracking":[133,160],"error":[134,191],"by":[135,173,192],"approximately":[136],"46%.":[137],"have":[139],"successfully":[140],"demonstrated":[141],"approach":[143],"our":[145],"hardware":[147],"problem":[150],"line":[152],"following":[153],"using":[154],"live":[155],"overhead":[159],"camera.":[161],"Our":[162],"is":[164],"able":[166],"correct":[168],"aerodynamic":[170],"disturbances":[171],"generated":[172],"high-volume":[175],"industrial":[176],"fan":[177],"mean":[180],"flow":[181],"speed":[182],"5.5ms":[184],"<sup":[185],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[186],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22121</sup>":[187],",":[188],"reducing":[189],"path":[190],"65%":[193],"relative":[194],"basic":[197],"position":[198],"update":[199],"procedure.":[200]},"counts_by_year":[{"year":2023,"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"}
