{"id":"https://openalex.org/W4408323794","doi":"https://doi.org/10.1109/lra.2025.3549661","title":"OMEGA: Open-Source and Multi-Mode Hopping Platform for Educational and Groundwork Aims","display_name":"OMEGA: Open-Source and Multi-Mode Hopping Platform for Educational and Groundwork Aims","publication_year":2025,"publication_date":"2025-03-11","ids":{"openalex":"https://openalex.org/W4408323794","doi":"https://doi.org/10.1109/lra.2025.3549661"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3549661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3549661","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/A5054031435","display_name":"Xiangyu Chu","orcid":"https://orcid.org/0000-0002-7677-2600"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiangyu Chu","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5116585387","display_name":"Fei Yan Wong","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100441","display_name":"Multi Base (China)","ror":"https://ror.org/012adm074","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210100441"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Yan Wong","raw_affiliation_strings":["Multi-scale Medical Research Center, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Multi-scale Medical Research Center, Hong Kong, China","institution_ids":["https://openalex.org/I4210100441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100661122","display_name":"Chun Yin Fan","orcid":"https://orcid.org/0009-0001-8069-3569"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chun Yin Fan","raw_affiliation_strings":["Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066852970","display_name":"Hongbo Zhang","orcid":"https://orcid.org/0000-0002-0769-9243"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Zhang","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101631969","display_name":"Yanlin Chen","orcid":"https://orcid.org/0000-0001-8215-617X"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanlin Chen","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038766171","display_name":"Kwok Wai Samuel Au","orcid":"https://orcid.org/0000-0002-0114-7499"},"institutions":[{"id":"https://openalex.org/I177725633","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"K. W. Samuel Au","raw_affiliation_strings":["Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China","institution_ids":["https://openalex.org/I177725633"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5054031435"],"corresponding_institution_ids":["https://openalex.org/I177725633"],"apc_list":null,"apc_paid":null,"fwci":1.6028,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.81172636,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"10","issue":"4","first_page":"4005","last_page":"4012"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.6075000166893005,"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"}},"topics":[{"id":"https://openalex.org/T10715","display_name":"Distributed and Parallel Computing Systems","score":0.6075000166893005,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.49919605255126953}],"concepts":[{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.49919605255126953}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3549661","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3549661","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":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2560658338","https://openalex.org/W2603837963","https://openalex.org/W2967118761","https://openalex.org/W2977389550","https://openalex.org/W3045492637","https://openalex.org/W3093922502","https://openalex.org/W3137610557","https://openalex.org/W4214570817","https://openalex.org/W4233561989","https://openalex.org/W4312709345","https://openalex.org/W4383112615","https://openalex.org/W4384025110","https://openalex.org/W4390357269","https://openalex.org/W4390480957","https://openalex.org/W4395116617","https://openalex.org/W4401414114","https://openalex.org/W6755437240","https://openalex.org/W6760586623","https://openalex.org/W6785820254","https://openalex.org/W6842936555","https://openalex.org/W6977691444"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2935759653","https://openalex.org/W3105167352","https://openalex.org/W54078636","https://openalex.org/W2954470139","https://openalex.org/W1501425562","https://openalex.org/W2902782467","https://openalex.org/W3084825885","https://openalex.org/W2298861036","https://openalex.org/W2271181815"],"abstract_inverted_index":{"This":[0,79],"letter":[1],"presents":[2],"OMEGA,":[3],"a":[4,13,16,54,72,107],"new":[5],"open-source,":[6],"multi-mode":[7],"hopping":[8,32,127],"platform.":[9],"It":[10],"consists":[11],"of":[12,96,114],"rig":[14],"and":[15,30,90,93,135,143,155],"middle-size":[17,62],"robot":[18,109],"equipped":[19],"with":[20,106],"an":[21],"omnidirectional":[22],"parallel":[23],"3-RSR":[24],"leg,":[25],"allowing":[26],"for":[27,118,125],"1D,":[28],"2D,":[29],"3D":[31,55,88,136],"modes.":[33],"All":[34],"modes":[35,51,138],"can":[36,65],"be":[37],"easily":[38],"interchanged":[39],"via":[40],"detachable":[41,97],"mechanisms.":[42],"A":[43,121],"control":[44,128],"framework":[45],"is":[46,123],"developed":[47,124],"to":[48,75,101,151],"operate":[49],"all":[50],"based":[52],"on":[53],"SLIP":[56],"model.":[57],"To":[58],"our":[59],"knowledge,":[60],"few":[61],"monopod":[63],"robots":[64,117],"locomote":[66],"in":[67,132],"the":[68,94,140,149],"field,":[69],"making":[70],"OMEGA":[71],"complementary":[73],"addition":[74],"existing":[76],"legged":[77,103],"platforms.":[78],"versatile":[80],"solution":[81],"uses":[82],"accessible":[83],"manufacturing":[84],"technologies":[85],"such":[86],"as":[87],"printing":[89],"water-jet":[91],"cutting,":[92],"implementation":[95],"mechanisms,":[98],"enabling":[99],"operators":[100],"explore":[102],"dynamic":[104],"motion":[105],"single":[108],"across":[110],"different":[111,119],"modes,":[112],"instead":[113],"requiring":[115],"multiple":[116],"purposes.":[120],"simulator":[122],"initial":[126],"learning.":[129],"Extensive":[130],"experiments":[131],"1D/2D":[133],"tethered":[134],"untethered":[137],"demonstrate":[139],"platform's":[141],"mobility":[142],"versatility.":[144],"The":[145],"proposed":[146],"platform":[147],"has":[148],"potential":[150],"serve":[152],"both":[153],"educational":[154],"groundwork":[156],"aims.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-03-12T00:00:00"}