{"id":"https://openalex.org/W4389665873","doi":"https://doi.org/10.1109/iros55552.2023.10342488","title":"Legged Locomotion Control of an Under-Actuated Eccentric Paddle Mechanism with Torso Stabilization","display_name":"Legged Locomotion Control of an Under-Actuated Eccentric Paddle Mechanism with Torso Stabilization","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665873","doi":"https://doi.org/10.1109/iros55552.2023.10342488"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342488","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5054452119","display_name":"Yanqiu Zheng","orcid":"https://orcid.org/0000-0001-8518-4141"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yanqiu Zheng","raw_affiliation_strings":["Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Ishikawa,Japan,923-1292"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Advanced Science and Technology, Japan Advanced Institute of Science and Technology,Ishikawa,Japan,923-1292","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["College of Information Science and Technol-ogy, Beijing University of Chemical Technology,Beijing,China,100029"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Science and Technol-ogy, Beijing University of Chemical Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["Ritsumeikan University,Faculty of Science and Engineering,Shiga,Japan,525-8577"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Faculty of Science and Engineering,Shiga,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"4293","last_page":"4298"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9721999764442444,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9721999764442444,"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/paddle","display_name":"Paddle","score":0.8802495002746582},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.8672038912773132},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7447819709777832},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6746190786361694},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6563397645950317},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6123121380805969},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6012197732925415},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5845780372619629},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.440550833940506},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.43652796745300293},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4212121069431305},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2992309629917145},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2936457395553589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17538520693778992}],"concepts":[{"id":"https://openalex.org/C165150422","wikidata":"https://www.wikidata.org/wiki/Q449573","display_name":"Paddle","level":2,"score":0.8802495002746582},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.8672038912773132},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7447819709777832},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6746190786361694},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6563397645950317},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6123121380805969},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6012197732925415},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5845780372619629},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.440550833940506},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.43652796745300293},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4212121069431305},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2992309629917145},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2936457395553589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17538520693778992},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342488","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/iros55552.2023.10342488","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.4000000059604645}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2089901852","https://openalex.org/W2037557144","https://openalex.org/W2017605127","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2308303652","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W2768773817"],"abstract_inverted_index":{"Rescue":[0],"robots":[1],"require":[2],"versatility":[3],"and":[4,32,55,86,93,102,120,138],"the":[5,59,66,109,115,159],"capability":[6],"to":[7,12,58,107,158,164],"operate":[8],"in":[9,151],"various":[10],"environments":[11],"carry":[13],"out":[14,27],"a":[15,39,43,82,87,135],"diverse":[16],"set":[17],"of":[18,81,111,146],"tasks":[19],"effectively.":[20],"The":[21,144],"eccentric":[22],"paddle":[23],"(ePaddle)":[24],"mechanism":[25,85],"stands":[26],"for":[28,46,61,90],"its":[29,141],"high":[30,136],"efficiency":[31],"adaptability.":[33],"Generally,":[34],"it":[35,133],"is":[36,51,72,118,128,154],"designed":[37],"as":[38],"quadruped":[40],"robot":[41,131],"with":[42],"combined":[44],"structure":[45],"fully-actuated":[47,67],"control,":[48],"this":[49,74,126,152],"approach":[50],"often":[52],"both":[53],"inefficient":[54],"inflexible":[56],"due":[57],"requirement":[60],"repeated":[62],"front-to-back":[63],"paths.":[64],"Unlike":[65],"controller":[68,148],"that":[69],"assume":[70],"torso":[71,89],"fixed,":[73],"study":[75,153],"proposes":[76],"an":[77],"under-actuated":[78,147,166],"controller,":[79],"consisting":[80],"single":[83],"ePaddle":[84,160],"free":[88],"more":[91],"efficient":[92],"flexible":[94],"movement.":[95],"Inspired":[96],"by":[97,122],"human":[98],"gait,":[99],"precision":[100],"walking,":[101],"non-precision":[103],"walking":[104],"are":[105],"introduced":[106],"discuss":[108],"stability":[110,116],"zero":[112],"dynamics.":[113],"Additionally,":[114],"condition":[117],"presented":[119],"demonstrated":[121],"numerical":[123],"simulation.":[124],"Since":[125],"control":[127],"based":[129],"on":[130],"dynamics,":[132],"has":[134],"fault-tolerance":[137],"benefited":[139],"from":[140],"dynamics":[142],"attractor.":[143],"concept":[145],"we":[149],"proposed":[150],"not":[155],"only":[156],"applicable":[157],"mechanism,":[161],"but":[162],"also":[163],"other":[165],"legged":[167],"locomotion":[168],"models.":[169]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}