{"id":"https://openalex.org/W2885878928","doi":"https://doi.org/10.1109/lra.2018.2862431","title":"Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode","display_name":"Development of a Wheel-Paddle Integrated Quadruped Robot for Rough Terrain and its Verification on Hybrid Mode","publication_year":2018,"publication_date":"2018-08-02","ids":{"openalex":"https://openalex.org/W2885878928","doi":"https://doi.org/10.1109/lra.2018.2862431","mag":"2885878928"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2862431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2862431","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/A5024054078","display_name":"Yayi Shen","orcid":"https://orcid.org/0000-0002-0866-5256"},"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":true,"raw_author_name":"Yayi Shen","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070648653","display_name":"Guoteng Zhang","orcid":"https://orcid.org/0000-0001-7705-2819"},"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":"Guoteng Zhang","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100752653","display_name":"Yang Tian","orcid":"https://orcid.org/0000-0003-1354-2143"},"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":"Yang Tian","raw_affiliation_strings":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"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":["Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5024054078"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.5546,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.64815307,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"3","issue":"4","first_page":"4062","last_page":"4067"},"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":0.9581000208854675,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.954800009727478,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/paddle","display_name":"Paddle","score":0.875993013381958},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8740605711936951},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6604459285736084},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.626788318157196},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.5664448142051697},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5521930456161499},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5035983920097351},{"id":"https://openalex.org/keywords/reliability","display_name":"Reliability (semiconductor)","score":0.43185746669769287},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.37747007608413696},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29214149713516235},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2085494101047516},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06465142965316772}],"concepts":[{"id":"https://openalex.org/C165150422","wikidata":"https://www.wikidata.org/wiki/Q449573","display_name":"Paddle","level":2,"score":0.875993013381958},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8740605711936951},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6604459285736084},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.626788318157196},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.5664448142051697},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5521930456161499},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5035983920097351},{"id":"https://openalex.org/C43214815","wikidata":"https://www.wikidata.org/wiki/Q7310987","display_name":"Reliability (semiconductor)","level":3,"score":0.43185746669769287},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.37747007608413696},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29214149713516235},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2085494101047516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06465142965316772},{"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2018.2862431","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2862431","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":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322725","display_name":"China Scholarship Council","ror":"https://ror.org/04atp4p48"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1789658038","https://openalex.org/W1822001265","https://openalex.org/W1979445726","https://openalex.org/W1988476988","https://openalex.org/W1991089195","https://openalex.org/W1994135909","https://openalex.org/W2013170344","https://openalex.org/W2019761348","https://openalex.org/W2046735153","https://openalex.org/W2077150991","https://openalex.org/W2111904757","https://openalex.org/W2618496359","https://openalex.org/W2619365120","https://openalex.org/W2764255492"],"related_works":["https://openalex.org/W2089901852","https://openalex.org/W2017605127","https://openalex.org/W2308303652","https://openalex.org/W2631661594","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W2186216815","https://openalex.org/W2909067415","https://openalex.org/W4226082913"],"abstract_inverted_index":{"To":[0,41,62],"enhance":[1],"the":[2,24,38,43,90,113,119,123],"motion":[3],"performance":[4],"of":[5,30,92,104],"all-terrain":[6],"robots,":[7],"an":[8],"eccentric":[9],"paddle":[10],"mechanism":[11,17],"(ePaddle)":[12],"based":[13,36],"on":[14,23,37],"planet":[15],"gear":[16],"was":[18,69],"designed.":[19],"This":[20],"letter":[21],"is":[22,72],"design,":[25],"control":[26],"scheme,":[27],"and":[28,45,58,80,107,122],"implementation":[29],"a":[31],"wheel-paddle":[32],"integrated":[33],"quadruped":[34],"robot":[35],"ePaddle":[39],"mechanism.":[40],"ensure":[42],"reliability":[44],"ruggedness":[46],"in":[47,125],"harsh":[48],"environment,":[49],"protection":[50],"measures":[51],"were":[52,110],"added":[53],"to":[54,82,89,100],"both":[55],"electrical":[56],"system":[57],"crucial":[59],"mechanical":[60],"parts.":[61],"negotiate":[63],"rough":[64,126],"terrain":[65,93],"effectively,":[66],"hybrid":[67,115],"mode":[68],"introduced,":[70],"which":[71,117],"more":[73],"efficient":[74],"comparing":[75],"with":[76,112],"other":[77],"legged":[78],"modes":[79],"easier":[81],"transit":[83],"among":[84],"three":[85],"supporting":[86],"gestures":[87],"according":[88],"variation":[91],"situation.":[94],"Each":[95],"joint":[96],"has":[97],"been":[98],"measured":[99],"follow":[101],"accurate":[102],"trajectories":[103],"position.":[105],"Indoor":[106],"outdoor":[108],"tests":[109],"conducted":[111],"described":[114],"mode,":[116],"verified":[118],"whole":[120],"design":[121],"negotiability":[124],"terrain.":[127]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2026-03-17T09:09:15.849793","created_date":"2025-10-10T00:00:00"}
