{"id":"https://openalex.org/W2775773969","doi":"https://doi.org/10.1109/iros.2017.8206368","title":"Trajectory design and control of quadruped robot for trotting over obstacles","display_name":"Trajectory design and control of quadruped robot for trotting over obstacles","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775773969","doi":"https://doi.org/10.1109/iros.2017.8206368","mag":"2775773969"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101639503","display_name":"Young Hun Lee","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":"Young Hun Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074650686","display_name":"Yoon Haeng Lee","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":"Yoon Haeng Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101765145","display_name":"Hyunyong Lee","orcid":"https://orcid.org/0000-0001-6555-685X"},"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":"Hyunyong Lee","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020644421","display_name":"Luong Tin Phan","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":"Luong Tin Phan","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101917292","display_name":"Hansol Kang","orcid":"https://orcid.org/0000-0002-8672-2359"},"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":"Hansol Kang","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051393057","display_name":"Uikyum Kim","orcid":"https://orcid.org/0000-0003-2814-5546"},"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":"Uikyum Kim","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079817309","display_name":"Jeongmin Jeon","orcid":"https://orcid.org/0000-0001-5567-7447"},"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":"Jeongmin Jeon","raw_affiliation_strings":["School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","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, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea","institution_ids":["https://openalex.org/I848706"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5101639503"],"corresponding_institution_ids":["https://openalex.org/I848706"],"apc_list":null,"apc_paid":null,"fwci":0.5098,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.6492581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4897","last_page":"4902"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9822999835014343,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9684000015258789,"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/trajectory","display_name":"Trajectory","score":0.8179882764816284},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6500586271286011},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5228883624076843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5150639414787292},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4232342839241028},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4151320159435272},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39788883924484253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32292306423187256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15757474303245544},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12000718712806702}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.8179882764816284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6500586271286011},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5228883624076843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5150639414787292},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4232342839241028},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4151320159435272},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39788883924484253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32292306423187256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15757474303245544},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12000718712806702},{"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/iros.2017.8206368","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206368","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W586080245","https://openalex.org/W1502718064","https://openalex.org/W1971017172","https://openalex.org/W1978102433","https://openalex.org/W1989242880","https://openalex.org/W1993314711","https://openalex.org/W1997291838","https://openalex.org/W2005577175","https://openalex.org/W2121698308","https://openalex.org/W2137751226","https://openalex.org/W2154139861","https://openalex.org/W2202445267","https://openalex.org/W2334471582","https://openalex.org/W2567667591","https://openalex.org/W2773230778","https://openalex.org/W4250058668"],"related_works":["https://openalex.org/W4200570312","https://openalex.org/W3128114094","https://openalex.org/W3119646977","https://openalex.org/W3181420625","https://openalex.org/W1595863680","https://openalex.org/W1965640390","https://openalex.org/W4205903114","https://openalex.org/W103820125","https://openalex.org/W2917321087","https://openalex.org/W2296038012"],"abstract_inverted_index":{"Various":[0],"control":[1,34,61,75,101,145],"strategies":[2],"using":[3,26,37],"trajectory":[4,24,47,69,90,143],"planning,":[5],"object":[6],"recognition":[7],"and":[8,33,65,93,114,144,149],"learning":[9],"are":[10,44,85,147],"researched":[11],"for":[12,62,91],"avoiding":[13],"obstacles":[14,43,108,137],"when":[15,82],"legged":[16],"robot":[17,78,104,133],"is":[18,124,138,151],"walking.":[19],"In":[20],"this":[21],"paper,":[22],"designed":[23,48],"by":[25,36,49],"Non":[27],"Uniform":[28],"Basis":[29],"Spline":[30],"(NUBS)":[31],"curve":[32,51],"strategy,":[35,102],"proposed":[38,100,142],"trajectory,":[39],"to":[40,87],"effectively":[41],"overcome":[42],"presented.":[45],"The":[46,77,141],"NUBS":[50],"has":[52],"several":[53],"advantages:":[54],"1)":[55],"local":[56],"modification,":[57],"2)":[58],"tracking":[59],"velocity":[60],"each":[63],"domain,":[64],"3)":[66],"low":[67],"degree":[68],"with":[70],"a":[71],"large":[72],"number":[73],"of":[74,98,130],"points.":[76],"gets":[79],"remarkable":[80],"effectiveness":[81],"these":[83],"advantages":[84],"used":[86],"generate":[88],"the":[89,99,131],"walking":[92,132],"overcoming":[94],"obstacles.":[95],"By":[96],"implementation":[97],"quadruped":[103],"can":[105],"walk":[106],"over":[107],"while":[109],"keeping":[110],"its":[111],"gait,":[112],"speed":[113],"balance":[115],"without":[116],"collision":[117],"although":[118],"adjusting":[119],"relatively":[120],"preferable":[121],"state":[122],"which":[123],"more":[125],"suitable":[126],"position":[127],"or":[128],"posture":[129],"shortly":[134],"before":[135],"encountering":[136],"not":[139],"required.":[140],"strategy":[146],"discussed,":[148],"performance":[150],"validated":[152],"through":[153],"experimental":[154],"evaluations.":[155]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
