{"id":"https://openalex.org/W2151148668","doi":"https://doi.org/10.1109/jra.1986.1087040","title":"A study of the gait control of a quadruped walking vehicle","display_name":"A study of the gait control of a quadruped walking vehicle","publication_year":1986,"publication_date":"1986-01-01","ids":{"openalex":"https://openalex.org/W2151148668","doi":"https://doi.org/10.1109/jra.1986.1087040","mag":"2151148668"},"language":"en","primary_location":{"id":"doi:10.1109/jra.1986.1087040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1986.1087040","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-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/A5000575684","display_name":"Tsu\u2010Tian Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I148366613","display_name":"National Yang Ming Chiao Tung University","ror":"https://ror.org/00se2k293","country_code":"TW","type":"education","lineage":["https://openalex.org/I148366613"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Tsu-Tian Lee","raw_affiliation_strings":["Institute of Control Engineering, National Chiao Tung University, Hsinchu, Taiwan"],"affiliations":[{"raw_affiliation_string":"Institute of Control Engineering, National Chiao Tung University, Hsinchu, Taiwan","institution_ids":["https://openalex.org/I148366613"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103498634","display_name":"Ching\u2010Long Shih","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ching-Long Shih","raw_affiliation_strings":["Department of Electrical Engineering, Ohio State Uinversity, Columbus, OH, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, Ohio State Uinversity, Columbus, OH, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5000575684"],"corresponding_institution_ids":["https://openalex.org/I148366613"],"apc_list":null,"apc_paid":null,"fwci":1.5341,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.83295384,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2","issue":"2","first_page":"61","last_page":"69"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9955000281333923,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9930999875068665,"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/stride","display_name":"STRIDE","score":0.8425112962722778},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7746817469596863},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5199843049049377},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5183092951774597},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.5080420970916748},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4316728711128235},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38293731212615967},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37957847118377686},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3617614805698395},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.27966803312301636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08310216665267944},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.05576825141906738}],"concepts":[{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.8425112962722778},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7746817469596863},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5199843049049377},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5183092951774597},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.5080420970916748},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4316728711128235},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38293731212615967},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37957847118377686},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3617614805698395},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.27966803312301636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08310216665267944},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.05576825141906738},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/jra.1986.1087040","is_oa":false,"landing_page_url":"https://doi.org/10.1109/jra.1986.1087040","pdf_url":null,"source":{"id":"https://openalex.org/S105799543","display_name":"IEEE Journal on Robotics and Automation","issn_l":"0882-4967","issn":["0882-4967","2374-8710"],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Journal on Robotics and Automation","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W80853922","https://openalex.org/W82683014","https://openalex.org/W154700948","https://openalex.org/W1988828629","https://openalex.org/W2002853107","https://openalex.org/W2005805981","https://openalex.org/W2012752411","https://openalex.org/W2017255086","https://openalex.org/W2039026174","https://openalex.org/W2060271150","https://openalex.org/W2061063863","https://openalex.org/W2062452560","https://openalex.org/W2070038508","https://openalex.org/W2075301351","https://openalex.org/W2086756762","https://openalex.org/W2094770975","https://openalex.org/W2104865973","https://openalex.org/W2125224533","https://openalex.org/W2126112236","https://openalex.org/W2298785303","https://openalex.org/W2317491297","https://openalex.org/W2506627791","https://openalex.org/W2624766082","https://openalex.org/W2727854080","https://openalex.org/W4237200682","https://openalex.org/W4252703870","https://openalex.org/W4255618545","https://openalex.org/W6697500097"],"related_works":["https://openalex.org/W2347597433","https://openalex.org/W2389023277","https://openalex.org/W2562411628","https://openalex.org/W3034772098","https://openalex.org/W2100563491","https://openalex.org/W2124672917","https://openalex.org/W4289821489","https://openalex.org/W4297820790","https://openalex.org/W2333025614","https://openalex.org/W2388211622"],"abstract_inverted_index":{"Some":[0],"of":[1,5,9,22,35,38,42,71,77,125],"the":[2,6,20,23,27,33,36,39,43,46,50,53,56,75,78,84,92,97,122,131,135],"fundamental":[3],"problems":[4],"gait":[7,105,124],"control":[8],"a":[10,87,103,107,126],"quadruped":[11,79,127],"walking":[12,80,128],"vehicle":[13],"are":[14,62,67],"addressed.":[15],"It":[16],"is":[17,30,112,117],"shown":[18],"that":[19,73,100],"product":[21],"duty":[24,60,98],"factor":[25,61,99],"and":[26,59,96,130],"stride":[28,57,94],"length":[29,34,58,95],"equal":[31],"to":[32,90,102,120],"boundary":[37],"reachable":[40],"area":[41],"leg.":[44],"Furthermore,":[45],"mathematical":[47],"expression":[48],"representing":[49],"relationship":[51],"between":[52],"stability":[54,110],"margin,":[55],"also":[63],"formulated.":[64],"These":[65],"equations":[66],"expressed":[68],"in":[69],"terms":[70],"quantities":[72],"specify":[74],"configuration":[76],"vehicle.":[81],"Based":[82],"on":[83],"derived":[85],"results,":[86],"graphical":[88,115],"approach":[89,116],"determine":[91,121],"required":[93],"corresponding":[101],"regular":[104,123],"with":[106,134],"prescribed":[108],"static":[109],"margin":[111],"presented.":[113],"This":[114],"then":[118],"adopted":[119],"vehicle,":[129],"results":[132],"agree":[133],"analytic":[136],"approach.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}