{"id":"https://openalex.org/W2148610469","doi":"https://doi.org/10.1109/iros.2003.1249723","title":"Multi-sensor referenced gait control of a miniature climbing robot","display_name":"Multi-sensor referenced gait control of a miniature climbing robot","publication_year":2004,"publication_date":"2004-03-30","ids":{"openalex":"https://openalex.org/W2148610469","doi":"https://doi.org/10.1109/iros.2003.1249723","mag":"2148610469"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1249723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249723","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5101508414","display_name":"Jizhong Xiao","orcid":"https://orcid.org/0000-0003-2398-7330"},"institutions":[{"id":"https://openalex.org/I121847817","display_name":"The Graduate Center, CUNY","ror":"https://ror.org/00awd9g61","country_code":"US","type":"education","lineage":["https://openalex.org/I121847817"]},{"id":"https://openalex.org/I125687163","display_name":"City College of New York","ror":"https://ror.org/00wmhkr98","country_code":"US","type":"education","lineage":["https://openalex.org/I125687163"]},{"id":"https://openalex.org/I174216632","display_name":"City University of New York","ror":"https://ror.org/00453a208","country_code":"US","type":"education","lineage":["https://openalex.org/I174216632"]},{"id":"https://openalex.org/I4210093530","display_name":"City College","ror":"https://ror.org/00h90tg62","country_code":"US","type":"education","lineage":["https://openalex.org/I4210093530"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Jizhong Xiao","raw_affiliation_strings":["Department of Electrical Engineering The City College,City College and Graduate Center, City University of New York, New York, NY, USA","School of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering The City College,City College and Graduate Center, City University of New York, New York, NY, USA","institution_ids":["https://openalex.org/I121847817","https://openalex.org/I125687163","https://openalex.org/I174216632","https://openalex.org/I4210093530"]},{"raw_affiliation_string":"School of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023212284","display_name":"Ning Xi","orcid":"https://orcid.org/0000-0001-8276-5696"},"institutions":[{"id":"https://openalex.org/I87216513","display_name":"Michigan State University","ror":"https://ror.org/05hs6h993","country_code":"US","type":"education","lineage":["https://openalex.org/I87216513"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ning Xi","raw_affiliation_strings":["Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Michigan State University, East Lansing, MI, USA","institution_ids":["https://openalex.org/I87216513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101485986","display_name":"Jun Xiao","orcid":"https://orcid.org/0000-0001-5492-7010"},"institutions":[{"id":"https://openalex.org/I121847817","display_name":"The Graduate Center, CUNY","ror":"https://ror.org/00awd9g61","country_code":"US","type":"education","lineage":["https://openalex.org/I121847817"]},{"id":"https://openalex.org/I125687163","display_name":"City College of New York","ror":"https://ror.org/00wmhkr98","country_code":"US","type":"education","lineage":["https://openalex.org/I125687163"]},{"id":"https://openalex.org/I174216632","display_name":"City University of New York","ror":"https://ror.org/00453a208","country_code":"US","type":"education","lineage":["https://openalex.org/I174216632"]},{"id":"https://openalex.org/I4210093530","display_name":"City College","ror":"https://ror.org/00h90tg62","country_code":"US","type":"education","lineage":["https://openalex.org/I4210093530"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Jun Xiao","raw_affiliation_strings":["Department of Electrical Engineering The City College,City College and Graduate Center, City University of New York, New York, NY, USA","School of Information Science and Engineering, Northeastern University, Shenyang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering The City College,City College and Graduate Center, City University of New York, New York, NY, USA","institution_ids":["https://openalex.org/I121847817","https://openalex.org/I125687163","https://openalex.org/I174216632","https://openalex.org/I4210093530"]},{"raw_affiliation_string":"School of Information Science and Engineering, Northeastern University, Shenyang, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025711005","display_name":"Jindong Tan","orcid":"https://orcid.org/0000-0003-0339-8811"},"institutions":[{"id":"https://openalex.org/I11957088","display_name":"Michigan Technological University","ror":"https://ror.org/0036rpn28","country_code":"US","type":"education","lineage":["https://openalex.org/I11957088"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jindong Tan","raw_affiliation_strings":["Bept of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Bept of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI, USA","institution_ids":["https://openalex.org/I11957088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"3656","last_page":"3661"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9994000196456909,"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":0.9962000250816345,"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/crawling","display_name":"Crawling","score":0.9204462766647339},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.8435254096984863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7436429858207703},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6919008493423462},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6563311219215393},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6360675096511841},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5603917241096497},{"id":"https://openalex.org/keywords/finite-state-machine","display_name":"Finite-state machine","score":0.5338168144226074},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4566243886947632},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4267379641532898},{"id":"https://openalex.org/keywords/hill-climbing","display_name":"Hill climbing","score":0.42154577374458313},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4212230443954468},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4079740643501282},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35349684953689575},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3438534438610077},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2831669747829437},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09984606504440308}],"concepts":[{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.9204462766647339},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.8435254096984863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7436429858207703},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6919008493423462},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6563311219215393},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6360675096511841},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5603917241096497},{"id":"https://openalex.org/C167822520","wikidata":"https://www.wikidata.org/wiki/Q176452","display_name":"Finite-state machine","level":2,"score":0.5338168144226074},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4566243886947632},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4267379641532898},{"id":"https://openalex.org/C135450995","wikidata":"https://www.wikidata.org/wiki/Q820272","display_name":"Hill climbing","level":2,"score":0.42154577374458313},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4212230443954468},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4079740643501282},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35349684953689575},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3438534438610077},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2831669747829437},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09984606504440308},{"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2003.1249723","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1249723","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"},{"id":"pmh:oai:hub.hku.hk:10722/212782","is_oa":false,"landing_page_url":"http://hdl.handle.net/10722/212782","pdf_url":null,"source":{"id":"https://openalex.org/S4377196271","display_name":"The HKU Scholars Hub (University of Hong Kong)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I889458895","host_organization_name":"University of Hong Kong","host_organization_lineage":["https://openalex.org/I889458895"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference_Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1554101627","https://openalex.org/W1926029841","https://openalex.org/W1930821101","https://openalex.org/W1990586821","https://openalex.org/W2062966171","https://openalex.org/W2079313423","https://openalex.org/W2101392651","https://openalex.org/W2101949634","https://openalex.org/W2104283304","https://openalex.org/W2106485632","https://openalex.org/W2130360049","https://openalex.org/W2131533861","https://openalex.org/W2137635386","https://openalex.org/W2144366086","https://openalex.org/W2146628972","https://openalex.org/W2167102529","https://openalex.org/W2169376227","https://openalex.org/W2264688990","https://openalex.org/W6647974677"],"related_works":["https://openalex.org/W4317738234","https://openalex.org/W2942196653","https://openalex.org/W2998506550","https://openalex.org/W1972877171","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W2060963430","https://openalex.org/W92979448","https://openalex.org/W2169712669","https://openalex.org/W4390135167"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,10,43],"gait":[4],"generation":[5],"and":[6],"control":[7],"approach":[8],"of":[9,54],"bipedal":[11],"climbing":[12],"robot":[13,23],"with":[14],"under-actuated":[15],"mechanism.":[16],"The":[17],"special":[18],"mechanical":[19],"structure":[20],"enables":[21],"the":[22,52],"to":[24,38],"perform":[25],"exploration":[26],"tasks":[27],"using":[28,42],"\"crawling\",":[29],"\"pivoting\"":[30],"or":[31],"\"climbing\"":[32],"gaits.":[33],"Multiple":[34],"sensors":[35],"are":[36,48],"synthesized":[37],"generate":[39],"successful":[40],"gaits":[41],"finite":[44],"state":[45],"machine.":[46],"Experiments":[47],"conducted":[49],"which":[50],"demonstrate":[51],"effectiveness":[53],"proposed":[55],"approach.":[56]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
