{"id":"https://openalex.org/W2095736619","doi":"https://doi.org/10.1109/iros.2008.4650786","title":"Sensing and Control of Quadruped Walking and Climbing Robot Over Complex Environment","display_name":"Sensing and Control of Quadruped Walking and Climbing Robot Over Complex Environment","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2095736619","doi":"https://doi.org/10.1109/iros.2008.4650786","mag":"2095736619"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5084531081","display_name":"Vo Gia Loc","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Vo Gia Loc","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098197046","display_name":"Mo Koo Ig","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Mo Koo Ig","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108814907","display_name":"Duc Trong Tran","orcid":"https://orcid.org/0009-0002-5028-7807"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Duc Trong Tran","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033952678","display_name":"Young Kuk Song","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Young Kuk Song","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020336080","display_name":"Ho Moon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ho Moon Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098290991","display_name":"Pil Moon Hyung","orcid":null},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Pil Moon Hyung","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011232432","display_name":"Hyouk Ryeol Choi","orcid":"https://orcid.org/0000-0003-2902-7453"},"institutions":[{"id":"https://openalex.org/I848706","display_name":"Sungkyunkwan University","ror":"https://ror.org/04q78tk20","country_code":"KR","type":"education","lineage":["https://openalex.org/I848706"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyouk Ryeol Choi","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Kyunggi, South Korea","institution_ids":["https://openalex.org/I848706"]},{"raw_affiliation_string":"Sch. of Mech. Eng., Sungkyunkwan Univ., Suwon#TAB#","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5084531081"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.1509009,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3884","last_page":"3889"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9776999950408936,"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":0.968500018119812,"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/robot","display_name":"Robot","score":0.778233528137207},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.7159890532493591},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6760242581367493},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6636382341384888},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5473121404647827},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4856173098087311},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4582556486129761},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42035698890686035},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41679248213768005},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4065018594264984},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4041748642921448},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.3464229702949524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24254676699638367},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0569155216217041}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.778233528137207},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.7159890532493591},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6760242581367493},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6636382341384888},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5473121404647827},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4856173098087311},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4582556486129761},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42035698890686035},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41679248213768005},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4065018594264984},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4041748642921448},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3464229702949524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24254676699638367},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0569155216217041},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/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/iros.2008.4650786","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650786","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1025989354","https://openalex.org/W1503740319","https://openalex.org/W1600775539","https://openalex.org/W2098436509","https://openalex.org/W2103427741","https://openalex.org/W2122848338","https://openalex.org/W2128270866","https://openalex.org/W2146253201","https://openalex.org/W2146532483","https://openalex.org/W2156522370","https://openalex.org/W2230799447","https://openalex.org/W4241589064","https://openalex.org/W6681840921","https://openalex.org/W6683176287","https://openalex.org/W6689178938"],"related_works":["https://openalex.org/W1886477626","https://openalex.org/W2762381663","https://openalex.org/W4385196987","https://openalex.org/W218732962","https://openalex.org/W1540467731","https://openalex.org/W1979383880","https://openalex.org/W2538037439","https://openalex.org/W4317826762","https://openalex.org/W2741909783","https://openalex.org/W4210919297"],"abstract_inverted_index":{"In":[0,42],"this":[1],"paper,":[2],"we":[3],"propose":[4],"a":[5,12,30,33,36,44,89],"method":[6,19,52],"of":[7,24,39],"sensing":[8,51,69,84],"outdoor":[9],"environments":[10],"for":[11],"walking":[13,91],"and":[14,32,63,96],"climbing":[15],"robot.":[16],"The":[17,55,83],"proposed":[18],"ensures":[20],"the":[21,25,40,50,64,68,72,75],"realtime":[22],"perception":[23],"surface":[26],"geometry":[27],"by":[28],"integrating":[29],"range":[31],"gyroscope":[34],"with":[35],"novel":[37],"arrangement":[38],"sensors.":[41],"addition,":[43],"gait":[45],"planning":[46],"algorithm":[47,56],"based":[48],"on":[49],"is":[53,61,86,99],"presented.":[54],"runs":[57],"fast":[58],"since":[59],"it":[60],"simple,":[62],"rich":[65],"information":[66],"from":[67],"system":[70,85],"helps":[71],"robot":[73],"overcome":[74],"real":[76],"environment,":[77],"even":[78],"an":[79],"extremely":[80],"complex":[81],"one.":[82],"implemented":[87],"in":[88],"quadruped":[90],"robot,":[92],"called":[93],"MRWALLSPECT":[94],"IV":[95],"its":[97],"effectiveness":[98],"proved":[100],"experimentally.":[101]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}