{"id":"https://openalex.org/W2096169664","doi":"https://doi.org/10.1109/iros.2009.5354561","title":"DASH: A dynamic 16g hexapedal robot","display_name":"DASH: A dynamic 16g hexapedal robot","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2096169664","doi":"https://doi.org/10.1109/iros.2009.5354561","mag":"2096169664"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5075437666","display_name":"Paul Birkmeyer","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Birkmeyer","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029741354","display_name":"Kevin Peterson","orcid":null},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"K. Peterson","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073886799","display_name":"Ronald S. Fearing","orcid":"https://orcid.org/0000-0001-6242-5379"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. S. Fearing","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, University of California Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]},{"raw_affiliation_string":"Department of Electrical Engingeering and Computer Sciences, University of California, Berkeley, California 94720-1770, USA","institution_ids":["https://openalex.org/I95457486"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":29.0532,"has_fulltext":false,"cited_by_count":278,"citation_normalized_percentile":{"value":0.99895479,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"2683","last_page":"2689"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9980000257492065,"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":0.9968000054359436,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/dash","display_name":"Dash","score":0.8803532123565674},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6876934766769409},{"id":"https://openalex.org/keywords/tripod","display_name":"Tripod (photography)","score":0.67006915807724},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5788285732269287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5600388050079346},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5445197224617004},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5312302708625793},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4788472652435303},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.45661845803260803},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.43634432554244995},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3408382534980774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19860491156578064},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.19852524995803833},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11833491921424866},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0805155336856842}],"concepts":[{"id":"https://openalex.org/C2776090536","wikidata":"https://www.wikidata.org/wiki/Q187819","display_name":"Dash","level":2,"score":0.8803532123565674},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6876934766769409},{"id":"https://openalex.org/C130614165","wikidata":"https://www.wikidata.org/wiki/Q683906","display_name":"Tripod (photography)","level":2,"score":0.67006915807724},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5788285732269287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5600388050079346},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5445197224617004},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5312302708625793},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4788472652435303},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.45661845803260803},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.43634432554244995},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3408382534980774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19860491156578064},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.19852524995803833},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11833491921424866},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0805155336856842},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2009.5354561","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354561","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.155.3946","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.155.3946","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/~ronf/PAPERS/IROS09_DASH.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.610.4392","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.610.4392","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.eecs.berkeley.edu/~paulb/IROS09_DASH_submitted.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320332447","display_name":"U.S. Army","ror":"https://ror.org/00afsp483"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W102545820","https://openalex.org/W1503950469","https://openalex.org/W1822001265","https://openalex.org/W1983815930","https://openalex.org/W2002560324","https://openalex.org/W2010026582","https://openalex.org/W2024084391","https://openalex.org/W2052195289","https://openalex.org/W2073990895","https://openalex.org/W2099660316","https://openalex.org/W2111011296","https://openalex.org/W2121666081","https://openalex.org/W2135557503","https://openalex.org/W2142473411","https://openalex.org/W2143355985","https://openalex.org/W2167229331","https://openalex.org/W2274679709","https://openalex.org/W3195512452","https://openalex.org/W4237271316","https://openalex.org/W4285719527","https://openalex.org/W6684251871","https://openalex.org/W6694192088","https://openalex.org/W6800225088","https://openalex.org/W7061286564","https://openalex.org/W7064430740"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W3162692031","https://openalex.org/W1596567109","https://openalex.org/W2592391887","https://openalex.org/W2353757960","https://openalex.org/W2371036675","https://openalex.org/W1995677619","https://openalex.org/W2614575562","https://openalex.org/W2372645633","https://openalex.org/W2689391174"],"abstract_inverted_index":{"DASH":[0,26,78,99],"is":[1,60,64,75,100],"a":[2,28,49,56,67,81],"small,":[3],"lightweight,":[4],"power":[5,58],"autonomous":[6],"robot":[7],"capable":[8],"of":[9,116],"running":[10],"at":[11],"speeds":[12],"up":[13],"to":[14,37,96,104,111],"15":[15],"body":[16],"lengths":[17],"per":[18],"second":[19],"(see":[20],"video).":[21],"Drawing":[22],"inspiration":[23],"from":[24,107],"biomechanics,":[25],"has":[27],"sprawled":[29],"posture":[30],"and":[31,53],"uses":[32,47],"an":[33],"alternating":[34],"tripod":[35],"gait":[36,82],"achieve":[38],"dynamic":[39],"open-loop":[40],"horizontal":[41],"locomotion.":[42],"The":[43,62],"kinematic":[44],"design":[45,63],"which":[46],"only":[48],"single":[50],"drive":[51],"motor":[52],"allows":[54],"for":[55],"high":[57],"density":[59],"presented.":[61],"implemented":[65],"using":[66,87],"scaled":[68],"Smart":[69],"Composite":[70],"Manufacturing":[71],"(SCM)":[72],"process.":[73],"Evidence":[74],"given":[76],"that":[77,83],"runs":[79],"with":[80],"can":[84],"be":[85],"characterized":[86],"the":[88,112],"spring-loaded":[89],"inverted":[90],"pendulum":[91],"(SLIP)":[92],"model.":[93],"In":[94],"addition":[95],"being":[97],"fast,":[98],"also":[101],"well":[102],"suited":[103],"surviving":[105],"falls":[106],"large":[108],"heights,":[109],"due":[110],"uniquely":[113],"compliant":[114],"nature":[115],"its":[117],"structure.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":14},{"year":2021,"cited_by_count":13},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":23},{"year":2017,"cited_by_count":26},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":30},{"year":2014,"cited_by_count":19},{"year":2013,"cited_by_count":22},{"year":2012,"cited_by_count":20}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}