{"id":"https://openalex.org/W2003394154","doi":"https://doi.org/10.1109/ijcnn.2014.6889549","title":"Trotting gait planning for a quadruped robot with high payload walking on irregular terrain","display_name":"Trotting gait planning for a quadruped robot with high payload walking on irregular terrain","publication_year":2014,"publication_date":"2014-07-01","ids":{"openalex":"https://openalex.org/W2003394154","doi":"https://doi.org/10.1109/ijcnn.2014.6889549","mag":"2003394154"},"language":"en","primary_location":{"id":"doi:10.1109/ijcnn.2014.6889549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2014.6889549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Joint Conference on Neural Networks (IJCNN)","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/A5114860836","display_name":"Nan Hu","orcid":"https://orcid.org/0000-0001-8865-9456"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Nan Hu","raw_affiliation_strings":["Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China","Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101846774","display_name":"Dan Huang","orcid":"https://orcid.org/0000-0001-6468-4956"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dan Huang","raw_affiliation_strings":["Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China","[Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"[Department of Automation, Ministry of Education Shanghai Jiao Tong University Shanghai, China]","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041126305","display_name":"Shaoyuan Li","orcid":"https://orcid.org/0000-0003-3427-2912"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shaoyuan Li","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China","Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Department of Automation, Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100416244","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0002-8366-3605"},"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/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China","School of Aeronautics and Astronautics , Shanghai Jiao Tong University , Shanghai , China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Aeronautics and Astronautics , Shanghai Jiao Tong University , Shanghai , China","institution_ids":["https://openalex.org/I183067930","https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"581","last_page":"587"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9787999987602234,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9488000273704529,"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/terrain","display_name":"Terrain","score":0.7960975170135498},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7840418815612793},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7430724501609802},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6029642224311829},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48129692673683167},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.48123860359191895},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.47028493881225586},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4611847996711731},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34373706579208374},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32540833950042725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2905818223953247},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1359560191631317},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.1324666440486908},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11925318837165833}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7960975170135498},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7840418815612793},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7430724501609802},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6029642224311829},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48129692673683167},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.48123860359191895},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.47028493881225586},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4611847996711731},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34373706579208374},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32540833950042725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2905818223953247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1359560191631317},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.1324666440486908},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11925318837165833},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ijcnn.2014.6889549","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ijcnn.2014.6889549","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 International Joint Conference on Neural Networks (IJCNN)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6899999976158142,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W80956457","https://openalex.org/W133118836","https://openalex.org/W1562982332","https://openalex.org/W1973546417","https://openalex.org/W1976784541","https://openalex.org/W2029822357","https://openalex.org/W2045187966","https://openalex.org/W2124409533","https://openalex.org/W2145705329","https://openalex.org/W3149366016","https://openalex.org/W6633789993"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W4288094128","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4399671601","https://openalex.org/W2113164274","https://openalex.org/W2132444301","https://openalex.org/W2402852349"],"abstract_inverted_index":{"Walking":[0],"on":[1,58,71,86,103,125],"irregular":[2,59,72,104,127],"terrain":[3,105],"is":[4,14,83],"usually":[5],"a":[6,10,44,51],"common":[7],"task":[8],"for":[9,50,78,123],"quadruped":[11,52,98],"robot.":[12,99],"It":[13],"however":[15],"difficult":[16],"to":[17,63,93],"control":[18],"the":[19,31,38,65,87,95,114,126],"robot":[20,34,39,53,66],"in":[21,91],"this":[22],"situation":[23],"as":[24],"undesirable":[25],"impulse":[26],"force":[27],"by":[28],"collision":[29],"between":[30],"foot":[32,81],"of":[33,97,101],"and":[35,69,120],"obstacles":[36],"makes":[37],"unstable.":[40],"This":[41],"paper":[42],"presents":[43],"Posture":[45],"Feedback":[46],"Compensation":[47],"Controller":[48],"(PFCC)":[49],"with":[54],"high":[55],"payload":[56],"walking":[57,102,124],"terrain.":[60,128],"In":[61],"order":[62,92],"make":[64],"walk":[67],"stably":[68],"fast":[70],"terrain,":[73],"we":[74],"choose":[75],"trotting":[76],"gait":[77],"walking.":[79],"The":[80,109],"trajectory":[82],"scheduled":[84],"based":[85],"Bezier":[88],"curve":[89],"method":[90],"improve":[94],"stability":[96,119],"Simulations":[100],"have":[106,111,117],"been":[107],"performed.":[108],"results":[110],"verified":[112],"that":[113],"proposed":[115],"methods":[116],"better":[118],"higher":[121],"speed":[122]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}