{"id":"https://openalex.org/W4405778837","doi":"https://doi.org/10.1109/lra.2024.3522773","title":"Integrated Modeling and Control Optimization of Biped Wheel-Legged Robot","display_name":"Integrated Modeling and Control Optimization of Biped Wheel-Legged Robot","publication_year":2024,"publication_date":"2024-12-25","ids":{"openalex":"https://openalex.org/W4405778837","doi":"https://doi.org/10.1109/lra.2024.3522773"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3522773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3522773","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":null,"display_name":"Junze Yang","orcid":"https://orcid.org/0009-0000-3167-281X"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junze Yang","raw_affiliation_strings":["College of Automation, Hangzhou Dianzi University, Hangzhou, China","International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-3167-281X","affiliations":[{"raw_affiliation_string":"College of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019020601","display_name":"Qiuxuan Wu","orcid":"https://orcid.org/0000-0001-5153-6524"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiuxuan Wu","raw_affiliation_strings":["College of Automation, Hangzhou Dianzi University, Hangzhou, China","International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0000-0001-5153-6524","affiliations":[{"raw_affiliation_string":"College of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Shenao Li","orcid":"https://orcid.org/0009-0003-6933-8982"},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenao Li","raw_affiliation_strings":["International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0003-6933-8982","affiliations":[{"raw_affiliation_string":"International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060219092","display_name":"Yuejun Ye","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuejun Ye","raw_affiliation_strings":["College of Automation, Hangzhou Dianzi University, Hangzhou, China","International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":"https://orcid.org/0009-0000-3223-2787","affiliations":[{"raw_affiliation_string":"College of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091384527","display_name":"Cenfeng Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I50760025","display_name":"Hangzhou Dianzi University","ror":"https://ror.org/0576gt767","country_code":"CN","type":"education","lineage":["https://openalex.org/I50760025"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cenfeng Luo","raw_affiliation_strings":["College of Automation, Hangzhou Dianzi University, Hangzhou, China","International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]},{"raw_affiliation_string":"International Joint Research Laboratory for Autonomous Robotic Systems, Hangzhou Dianzi University, Hangzhou, China","institution_ids":["https://openalex.org/I50760025"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I50760025"],"apc_list":null,"apc_paid":null,"fwci":1.7716,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84393678,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"2","first_page":"1465","last_page":"1472"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9965999722480774,"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":0.9965999722480774,"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/robot","display_name":"Robot","score":0.5519704222679138},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5103656649589539},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5042546987533569},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49286770820617676},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4453844428062439},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.41359373927116394},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3801061809062958},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3464663624763489},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3019888699054718},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14220190048217773}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5519704222679138},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5103656649589539},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5042546987533569},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49286770820617676},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4453844428062439},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.41359373927116394},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3801061809062958},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3464663624763489},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3019888699054718},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14220190048217773}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3522773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3522773","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":[{"score":0.6299999952316284,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W2058616627","https://openalex.org/W2968031102","https://openalex.org/W2996714670","https://openalex.org/W2998304595","https://openalex.org/W3003894605","https://openalex.org/W3012010640","https://openalex.org/W3184620837","https://openalex.org/W3199894325","https://openalex.org/W3201296773","https://openalex.org/W3205946643","https://openalex.org/W4312264600","https://openalex.org/W4378965979","https://openalex.org/W4387350711","https://openalex.org/W4390099758","https://openalex.org/W4391901398","https://openalex.org/W4392199638"],"related_works":["https://openalex.org/W2332067308","https://openalex.org/W2028594013","https://openalex.org/W2036521189","https://openalex.org/W63481195","https://openalex.org/W4205253440","https://openalex.org/W2664556855","https://openalex.org/W2556237412","https://openalex.org/W2117792450","https://openalex.org/W2049789987","https://openalex.org/W2371547894"],"abstract_inverted_index":{"Biped":[0],"wheel-legged":[1],"robot":[2,34,158],"is":[3,35,65,70,93,126],"an":[4,22,168],"important":[5],"configuration":[6],"of":[7,32,49,79,114,141,156,189],"ground":[8],"mobile":[9],"robot.":[10,51],"In":[11,52],"the":[12,19,29,33,39,46,50,56,60,68,77,101,111,117,121,129,139,142,146,153,157,165,187,190],"existing":[13],"research,":[14],"in":[15],"order":[16,53],"to":[17,54,138],"deploy":[18],"model":[20,69],"on":[21,90,116],"embedded":[23,118],"system":[24],"with":[25,100],"limited":[26],"computing":[27],"power,":[28],"balance":[30],"control":[31,47,195],"usually":[36],"decoupled":[37],"from":[38],"body":[40],"posture":[41],"and":[42,67,75,128,175,182,194],"steering,":[43],"which":[44],"reduces":[45],"coordination":[48],"solve":[55],"above":[57],"problems,":[58],"firstly,":[59],"novel":[61,84],"Full-State":[62],"Dynamics":[63],"Model(FSDM)":[64],"introduced,":[66],"linearized":[71],"by":[72,162],"Taylor":[73],"expansion":[74],"solving":[76],"limit":[78],"multivariate":[80],"function.":[81],"Secondly,":[82],"a":[83,172,176],"Forward":[85],"Kinematics(FK)":[86],"solution":[87,104],"method":[88],"based":[89],"trajectory":[91],"equation":[92],"proposed":[94,191],"for":[95],"Virtual":[96],"Model":[97],"Control(VMC).":[98],"Compared":[99],"general":[102],"FK":[103],"method,":[105],"it":[106],"can":[107,133,159],"further":[108],"significantly":[109],"improve":[110],"calculation":[112],"speed":[113],"VMC":[115],"platform.":[119],"Furthermore,":[120],"Linear":[122],"Quadratic":[123],"Regulator(LQR)":[124],"controller":[125,193],"optimized,":[127],"weight":[130],"matrix":[131],"value":[132],"be":[134,160],"automatically":[135],"adjusted":[136],"according":[137],"error":[140],"state":[143],"variable.":[144],"At":[145],"same":[147],"time,":[148],"simulation":[149],"results":[150,185],"show":[151],"that":[152],"motion":[154],"performance":[155],"improved":[161],"actively":[163],"adjusting":[164],"posture.":[166],"Therefore,":[167],"adaptive":[169],"LQR":[170],"controller,":[171],"steering":[173],"compensator":[174,178],"gravity":[177],"are":[179],"designed.":[180],"Simulation":[181],"physical":[183],"experimental":[184],"verify":[186],"effectiveness":[188],"model,":[192],"strategy.":[196]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":11}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}