{"id":"https://openalex.org/W2572101582","doi":"https://doi.org/10.1109/lra.2017.2653363","title":"SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control","display_name":"SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control","publication_year":2017,"publication_date":"2017-01-17","ids":{"openalex":"https://openalex.org/W2572101582","doi":"https://doi.org/10.1109/lra.2017.2653363","mag":"2572101582"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2653363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2653363","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","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/A5046143069","display_name":"Yun-Meng Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":true,"raw_author_name":"Yun-Meng Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110313699","display_name":"Hung-Sheng Lin","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Hung-Sheng Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062487478","display_name":"Pei\u2010Chun Lin","orcid":"https://orcid.org/0000-0001-9146-3817"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Pei-Chun Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei,Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5046143069"],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":0.8922,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.71189242,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"2","issue":"2","first_page":"804","last_page":"810"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9955999851226807,"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":0.9883999824523926,"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/slip","display_name":"Slip (aerodynamics)","score":0.7545372247695923},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6894732713699341},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.63592928647995},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5957785248756409},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5131846070289612},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49583372473716736},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4422222077846527},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4179121255874634},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.23459568619728088},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20493406057357788},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1413368284702301},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11481565237045288},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08705726265907288}],"concepts":[{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.7545372247695923},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6894732713699341},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.63592928647995},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5957785248756409},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5131846070289612},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49583372473716736},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4422222077846527},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4179121255874634},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.23459568619728088},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20493406057357788},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1413368284702301},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11481565237045288},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08705726265907288},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2653363","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2653363","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4715628429","display_name":null,"funder_award_id":"105-2221-E-002-095-MY2","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1493860925","https://openalex.org/W1501891458","https://openalex.org/W1584007949","https://openalex.org/W1981918565","https://openalex.org/W1983815930","https://openalex.org/W1989796457","https://openalex.org/W1989901771","https://openalex.org/W2005774317","https://openalex.org/W2015710178","https://openalex.org/W2019761348","https://openalex.org/W2059735320","https://openalex.org/W2064736763","https://openalex.org/W2075135730","https://openalex.org/W2077150991","https://openalex.org/W2108977369","https://openalex.org/W2120227089","https://openalex.org/W2121829700","https://openalex.org/W2129224530","https://openalex.org/W2170320699","https://openalex.org/W2409320373","https://openalex.org/W6629477975","https://openalex.org/W6714414681"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2904902274","https://openalex.org/W3196329154","https://openalex.org/W2088253028","https://openalex.org/W90056650","https://openalex.org/W1573267871","https://openalex.org/W3016250019","https://openalex.org/W2005150327","https://openalex.org/W1442549794","https://openalex.org/W2753642519"],"abstract_inverted_index":{"We":[0],"report":[1],"on":[2,108],"the":[3,7,25,35,44,50,54,60,63,70,80,114,122,129],"model-based":[4],"development":[5],"of":[6,12,62,79,113],"pronking":[8,72],"and":[9,34,37,53,73,105],"trotting":[10,74],"behaviors":[11,100],"a":[13],"leg-wheel":[14,81],"transformable":[15],"robot.":[16],"The":[17,76,91,117],"spring-loaded":[18],"inverted":[19],"pendulum":[20],"(SLIP)":[21],"model":[22,52,65],"serves":[23],"as":[24],"motion":[26,31],"template;":[27],"its":[28],"stable":[29],"running":[30,61],"is":[32,56,82,125],"investigated,":[33],"parameters":[36],"state":[38],"conditions":[39],"suitable":[40],"for":[41],"implementation":[42],"in":[43,103,127],"robot":[45,55,92],"are":[46],"selected.":[47],"Mapping":[48],"between":[49],"SLIP":[51,64,115],"conducted":[57],"so":[58],"that":[59,121],"can":[66],"be":[67],"transformed":[68],"into":[69],"robot's":[71],"behaviors.":[75,131],"spring":[77],"effect":[78],"achieved":[83],"using":[84],"force":[85],"control":[86],"with":[87,101],"motor":[88],"current":[89],"feedback.":[90],"was":[93],"operated":[94],"to":[95],"initiate":[96],"four":[97,109],"different":[98,110],"dynamic":[99,130],"variations":[102],"stiffness":[104],"gait":[106],"based":[107],"fixed-point":[111],"trajectories":[112],"model.":[116],"experimental":[118],"results":[119],"confirm":[120],"proposed":[123],"strategy":[124],"effective":[126],"initiating":[128]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
