{"id":"https://openalex.org/W3169058320","doi":"https://doi.org/10.1109/lcsys.2021.3088683","title":"Formation Control of Four-Legged Robots Using Discrete-Valued Inputs","display_name":"Formation Control of Four-Legged Robots Using Discrete-Valued Inputs","publication_year":2021,"publication_date":"2021-06-11","ids":{"openalex":"https://openalex.org/W3169058320","doi":"https://doi.org/10.1109/lcsys.2021.3088683","mag":"3169058320"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2021.3088683","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3088683","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9462165/09452060.pdf","source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7782633/9462165/09452060.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5075572187","display_name":"Shinsaku Izumi","orcid":"https://orcid.org/0000-0002-7435-5619"},"institutions":[{"id":"https://openalex.org/I193620225","display_name":"Okayama Prefectural University","ror":"https://ror.org/038bgk418","country_code":"JP","type":"education","lineage":["https://openalex.org/I193620225"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Shinsaku Izumi","raw_affiliation_strings":["Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-7435-5619","affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan","institution_ids":["https://openalex.org/I193620225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083303273","display_name":"Kiko Shinagawa","orcid":null},"institutions":[{"id":"https://openalex.org/I193620225","display_name":"Okayama Prefectural University","ror":"https://ror.org/038bgk418","country_code":"JP","type":"education","lineage":["https://openalex.org/I193620225"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiko Shinagawa","raw_affiliation_strings":["Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan","institution_ids":["https://openalex.org/I193620225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100393243","display_name":"Xin Xin","orcid":"https://orcid.org/0000-0002-0965-5930"},"institutions":[{"id":"https://openalex.org/I193620225","display_name":"Okayama Prefectural University","ror":"https://ror.org/038bgk418","country_code":"JP","type":"education","lineage":["https://openalex.org/I193620225"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Xin Xin","raw_affiliation_strings":["Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0965-5930","affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan","institution_ids":["https://openalex.org/I193620225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113541398","display_name":"Taiga Yamasaki","orcid":null},"institutions":[{"id":"https://openalex.org/I193620225","display_name":"Okayama Prefectural University","ror":"https://ror.org/038bgk418","country_code":"JP","type":"education","lineage":["https://openalex.org/I193620225"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiga Yamasaki","raw_affiliation_strings":["Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Computer Science and Systems Engineering, Okayama Prefectural University, Okayama, Japan","institution_ids":["https://openalex.org/I193620225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5075572187"],"corresponding_institution_ids":["https://openalex.org/I193620225"],"apc_list":null,"apc_paid":null,"fwci":0.085,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.37451651,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"6","issue":null,"first_page":"1088","last_page":"1093"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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/T10249","display_name":"Distributed Control Multi-Agent Systems","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9660999774932861,"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/control-theory","display_name":"Control theory (sociology)","score":0.7576168179512024},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.7544670104980469},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6844694018363953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5414218902587891},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48519042134284973},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4651193618774414},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4557184875011444},{"id":"https://openalex.org/keywords/feedback-control","display_name":"Feedback control","score":0.42441290616989136},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4125410318374634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3631021976470947},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34747743606567383},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.22367647290229797},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17087438702583313},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16812223196029663}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7576168179512024},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.7544670104980469},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6844694018363953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5414218902587891},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48519042134284973},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4651193618774414},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4557184875011444},{"id":"https://openalex.org/C3018651601","wikidata":"https://www.wikidata.org/wiki/Q183635","display_name":"Feedback control","level":2,"score":0.42441290616989136},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4125410318374634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3631021976470947},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34747743606567383},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.22367647290229797},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17087438702583313},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16812223196029663},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lcsys.2021.3088683","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3088683","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9462165/09452060.pdf","source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1109/lcsys.2021.3088683","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lcsys.2021.3088683","pdf_url":"https://ieeexplore.ieee.org/ielx7/7782633/9462165/09452060.pdf","source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4318225306","display_name":null,"funder_award_id":"19K15016","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3169058320.pdf","grobid_xml":"https://content.openalex.org/works/W3169058320.grobid-xml"},"referenced_works_count":13,"referenced_works":["https://openalex.org/W123426918","https://openalex.org/W1630241696","https://openalex.org/W2106108295","https://openalex.org/W2158820400","https://openalex.org/W2478884216","https://openalex.org/W2588428555","https://openalex.org/W2604390213","https://openalex.org/W2895632707","https://openalex.org/W2905553833","https://openalex.org/W3007649046","https://openalex.org/W3010123037","https://openalex.org/W3023397568","https://openalex.org/W6676137867"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2909067415","https://openalex.org/W4226082913","https://openalex.org/W2068942610"],"abstract_inverted_index":{"This":[0,38],"letter":[1],"addresses":[2],"a":[3,54,77,91],"formation":[4,63],"control":[5,27,58],"problem":[6,59],"of":[7,46,98,104],"four-legged":[8],"robots":[9,14],"with":[10,65,86],"discrete-valued":[11,36],"inputs.":[12],"Four-legged":[13],"have":[15],"the":[16,44,81,84,96,99,102,105],"potential":[17],"for":[18],"completing":[19],"tasks":[20],"on":[21,76,101],"non-flat":[22],"terrains,":[23],"while":[24],"their":[25],"position":[26],"is":[28,72],"achieved":[29],"by":[30,60],"switching":[31],"between":[32,83],"specific":[33],"movements,":[34],"i.e.,":[35],"signals.":[37],"implies":[39],"that":[40],"existing":[41],"results":[42],"assuming":[43],"use":[45],"continuous-valued":[47],"inputs":[48],"are":[49],"not":[50],"available.":[51],"We":[52],"present":[53],"solution":[55],"to":[56],"this":[57],"combining":[61],"conventional":[62],"controllers":[64],"dynamic":[66],"quantization.":[67,89],"The":[68],"resulting":[69],"feedback":[70],"system":[71,106],"then":[73],"analyzed":[74],"based":[75],"performance":[78],"index":[79],"describing":[80],"difference":[82],"systems":[85],"and":[87,107],"without":[88],"As":[90],"result,":[92],"we":[93],"can":[94],"estimate":[95],"effects":[97],"quantization":[100],"behavior":[103],"guarantee":[108],"its":[109],"stability.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}