{"id":"https://openalex.org/W4383112428","doi":"https://doi.org/10.1109/lra.2023.3292077","title":"A Novel Omnidirectional Swimming Robot With Articulated-Compliant Legs","display_name":"A Novel Omnidirectional Swimming Robot With Articulated-Compliant Legs","publication_year":2023,"publication_date":"2023-07-04","ids":{"openalex":"https://openalex.org/W4383112428","doi":"https://doi.org/10.1109/lra.2023.3292077"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3292077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3292077","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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/A5101629037","display_name":"Yaohui Xu","orcid":"https://orcid.org/0000-0001-8137-1265"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaohui Xu","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8137-1265","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100777490","display_name":"Hanlin Li","orcid":"https://orcid.org/0000-0001-6724-7364"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanlin Li","raw_affiliation_strings":["College of Mechanical Engineering, Yanshan University, Qinhuangdao, China","Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008472452","display_name":"Furui Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I51622183","display_name":"Shaanxi University of Science and Technology","ror":"https://ror.org/034t3zs45","country_code":"CN","type":"education","lineage":["https://openalex.org/I51622183"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Furui Yu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Shaanxi University of Science &amp; Technology, Xi&#x0027;an, China","Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Shaanxi University of Science &amp; Technology, Xi&#x0027;an, China","institution_ids":["https://openalex.org/I51622183"]},{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102864204","display_name":"Qiyang Zuo","orcid":"https://orcid.org/0009-0001-2802-3322"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiyang Zuo","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0001-2802-3322","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088882068","display_name":"Fengran Xie","orcid":"https://orcid.org/0000-0002-3947-2916"},"institutions":[{"id":"https://openalex.org/I182722699","display_name":"Shenzhen Polytechnic University","ror":"https://ror.org/00d2w9g53","country_code":"CN","type":"education","lineage":["https://openalex.org/I182722699"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengran Xie","raw_affiliation_strings":["School of Artificial Intelligence, Shenzhen Polytechnic, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-3947-2916","affiliations":[{"raw_affiliation_string":"School of Artificial Intelligence, Shenzhen Polytechnic, Shenzhen, China","institution_ids":["https://openalex.org/I182722699"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101948001","display_name":"Xiang Xie","orcid":null},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiang Xie","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-7823-3259","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100700367","display_name":"Kai He","orcid":"https://orcid.org/0000-0002-8615-3520"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"id":"https://openalex.org/I4210165038","display_name":"University of Chinese Academy of Sciences","ror":"https://ror.org/05qbk4x57","country_code":"CN","type":"education","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210165038"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai He","raw_affiliation_strings":["Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","University of Chinese Academy of Sciences, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-8615-3520","affiliations":[{"raw_affiliation_string":"Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]},{"raw_affiliation_string":"University of Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210165038"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4047,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54715339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"8","issue":"9","first_page":"5664","last_page":"5671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11486","display_name":"Micro and Nano Robotics","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/3104","display_name":"Condensed Matter Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/robot","display_name":"Robot","score":0.7273322939872742},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6705436110496521},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.6128037571907043},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5809827446937561},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.49025586247444153},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.4870591461658478},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4849119782447815},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4827510714530945},{"id":"https://openalex.org/keywords/radius","display_name":"RADIUS","score":0.465257465839386},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4509415924549103},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.429370254278183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39852121472358704},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26440364122390747},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.19568097591400146},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.07770347595214844}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7273322939872742},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6705436110496521},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.6128037571907043},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5809827446937561},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.49025586247444153},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.4870591461658478},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4849119782447815},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4827510714530945},{"id":"https://openalex.org/C178635117","wikidata":"https://www.wikidata.org/wiki/Q747499","display_name":"RADIUS","level":2,"score":0.465257465839386},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4509415924549103},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.429370254278183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39852121472358704},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26440364122390747},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.19568097591400146},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.07770347595214844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"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/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3292077","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3292077","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.8600000143051147}],"awards":[{"id":"https://openalex.org/G2939767402","display_name":null,"funder_award_id":"2023A1515011152","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W11818782","https://openalex.org/W78337592","https://openalex.org/W1946812513","https://openalex.org/W1969142081","https://openalex.org/W1983805008","https://openalex.org/W2039297272","https://openalex.org/W2066592454","https://openalex.org/W2081414165","https://openalex.org/W2091246642","https://openalex.org/W2093937828","https://openalex.org/W2094460003","https://openalex.org/W2143864592","https://openalex.org/W2337157527","https://openalex.org/W2417813486","https://openalex.org/W2520637732","https://openalex.org/W2541173204","https://openalex.org/W2755569859","https://openalex.org/W2765134328","https://openalex.org/W2890475775","https://openalex.org/W2901058014","https://openalex.org/W2914031928","https://openalex.org/W2916963401","https://openalex.org/W2917043170","https://openalex.org/W2949563790","https://openalex.org/W2953955682","https://openalex.org/W2974804123","https://openalex.org/W3007569990","https://openalex.org/W3025416399","https://openalex.org/W3037414720","https://openalex.org/W3037532018","https://openalex.org/W3043301796","https://openalex.org/W3094993986","https://openalex.org/W3119182912","https://openalex.org/W3134100872","https://openalex.org/W3173094152","https://openalex.org/W3182158844","https://openalex.org/W3189852382","https://openalex.org/W3190977849","https://openalex.org/W4281745908","https://openalex.org/W4313347125","https://openalex.org/W4319790441","https://openalex.org/W6779776343","https://openalex.org/W6830004318","https://openalex.org/W6848367954"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W3121791438","https://openalex.org/W2250140200"],"abstract_inverted_index":{"Stability,":[0],"adaptability,":[1,43,192],"and":[2,35,44,54,63,77,87,155,170,193],"maneuverability":[3],"are":[4,70,80],"critical":[5],"performance":[6,40],"indexes":[7],"for":[8,199],"underwater":[9,201],"biomimetic":[10],"robots,":[11],"especially":[12],"in":[13,41,109,178],"narrow":[14,179],"spaces.":[15,180],"However,":[16],"these":[17],"aspects":[18],"can":[19],"sometimes":[20],"be":[21],"contradictory.":[22],"This":[23],"letter":[24],"presents":[25],"an":[26],"omnidirectional":[27,94,183],"swimming":[28,114,137,143,147,184],"robot":[29,95,103,185],"inspired":[30],"by":[31,159],"the":[32,64,73,134,149,165,174],"whirligig":[33],"beetle":[34],"designed":[36],"to":[37,83,100,148],"achieve":[38],"good":[39],"stability,":[42,191],"maneuverability.":[45],"Its":[46],"design":[47],"features":[48],"four":[49],"novel":[50],"articulated-compliant":[51,166],"robotic":[52],"legs,":[53],"its":[55,110,113],"hydrodynamic":[56,68],"model":[57],"is":[58,90,116,129,139],"formulated":[59],"using":[60,72],"Kirchhoff's":[61],"equation":[62],"Lagrangian":[65],"method.":[66],"The":[67,168],"forces":[69],"calculated":[71],"quasi-steady":[74],"flow":[75],"model,":[76],"extensive":[78],"experiments":[79,172],"carried":[81],"out":[82],"examine":[84],"thrust":[85],"generation":[86],"speed.":[88],"It":[89],"found":[91],"that":[92],"this":[93,182],"has":[96],"significant":[97],"improvements":[98],"compared":[99],"a":[101,105,123,130,187,196],"conventional":[102],"with":[104,122],"single":[106],"passive":[107],"joint":[108],"leg.":[111],"Specifically,":[112],"speed":[115],"as":[117,119,142],"fast":[118],"0.34":[120],"m/s":[121],"frequency":[124],"of":[125,164],"1.4":[126],"Hz,":[127],"which":[128],"30.8%":[131],"increase.":[132],"Moreover,":[133],"robot's":[135,175],"multimodal":[136],"capabilities":[138],"demonstrated,":[140],"such":[141],"forward,":[144],"retreating,":[145],"lateral":[146],"left":[150],"or":[151],"right,":[152],"zero-radius":[153,157],"turning,":[154,158],"no":[156],"configuring":[160],"different":[161],"locomotive":[162],"patterns":[163],"legs.":[167],"passing":[169],"collision":[171],"demonstrate":[173],"potential":[176],"applications":[177],"Overall,":[181],"strikes":[186],"great":[188],"balance":[189],"among":[190],"maneuverability,":[194],"providing":[195],"promising":[197],"solution":[198],"high-performance":[200],"vehicles.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}
