{"id":"https://openalex.org/W4410294575","doi":"https://doi.org/10.1109/lra.2025.3569121","title":"TWLHex: A Biologically Inspired Multi-Morphology Transformable Wheel-Legged Hexapod","display_name":"TWLHex: A Biologically Inspired Multi-Morphology Transformable Wheel-Legged Hexapod","publication_year":2025,"publication_date":"2025-05-12","ids":{"openalex":"https://openalex.org/W4410294575","doi":"https://doi.org/10.1109/lra.2025.3569121"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3569121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3569121","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/A5105404282","display_name":"Yinghan Peng","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yinghan Peng","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0004-9518-5577","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yuanhao Pan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuanhao Pan","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5117277698","display_name":"Mingyang Shan","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Shan","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037837206","display_name":"Songlin Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Songlin Zhou","raw_affiliation_strings":["Shanghai Changxing Ocean Laboratory, Shanghai, China"],"raw_orcid":"https://orcid.org/0009-0000-7700-3451","affiliations":[{"raw_affiliation_string":"Shanghai Changxing Ocean Laboratory, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053286168","display_name":"Chaoxiong Lin","orcid":"https://orcid.org/0000-0001-8003-4726"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoxiong Lin","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090998442","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0001-5358-719X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5358-719X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101908272","display_name":"Weixing Chen","orcid":"https://orcid.org/0000-0003-0772-9825"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weixing Chen","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0003-0772-9825","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5105404282"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":1.2684,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.77366676,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"10","issue":"7","first_page":"6656","last_page":"6663"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9289000034332275,"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"}},"topics":[{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9289000034332275,"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/hexapod","display_name":"Hexapod","score":0.9865493774414062},{"id":"https://openalex.org/keywords/morphology","display_name":"Morphology (biology)","score":0.5448266863822937},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4901669919490814},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31081777811050415},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10867330431938171},{"id":"https://openalex.org/keywords/zoology","display_name":"Zoology","score":0.044464707374572754}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9865493774414062},{"id":"https://openalex.org/C499950583","wikidata":"https://www.wikidata.org/wiki/Q183252","display_name":"Morphology (biology)","level":2,"score":0.5448266863822937},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4901669919490814},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31081777811050415},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10867330431938171},{"id":"https://openalex.org/C90856448","wikidata":"https://www.wikidata.org/wiki/Q431","display_name":"Zoology","level":1,"score":0.044464707374572754},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3569121","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3569121","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/G1731607144","display_name":null,"funder_award_id":"AF3230009/004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G5801621745","display_name":null,"funder_award_id":"AF3230012/004","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G8867828198","display_name":null,"funder_award_id":"62433012","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1822001265","https://openalex.org/W1991089195","https://openalex.org/W2009797417","https://openalex.org/W2064736763","https://openalex.org/W2095315722","https://openalex.org/W2199318894","https://openalex.org/W2618496359","https://openalex.org/W2755163439","https://openalex.org/W2809120964","https://openalex.org/W2967118761","https://openalex.org/W2967978114","https://openalex.org/W2999717044","https://openalex.org/W3003397085","https://openalex.org/W3023173947","https://openalex.org/W3076622104","https://openalex.org/W3157458791","https://openalex.org/W3207819071","https://openalex.org/W3213653323","https://openalex.org/W4200552024","https://openalex.org/W4285102566","https://openalex.org/W4311770298","https://openalex.org/W4312776195","https://openalex.org/W4317399505","https://openalex.org/W4379622725","https://openalex.org/W4394863028","https://openalex.org/W4399835007","https://openalex.org/W4401750546","https://openalex.org/W4402915898","https://openalex.org/W4409732795"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W138543751","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"novel":[4],"biologically":[5],"inspired":[6],"transformable":[7,31],"wheel-legged":[8],"hexapod,":[9],"TWLHex,":[10],"which":[11],"is":[12,90,110],"capable":[13],"of":[14,85,106],"actively":[15],"switching":[16],"among":[17],"three":[18,56],"morphologies:":[19],"leg,":[20],"wheel,":[21],"and":[22,27,34,76,87,102],"spoke.":[23],"The":[24,82],"mechanical":[25],"design":[26],"kinematic":[28,45],"models":[29],"for":[30],"mechanism":[32,37],"(TranMech)":[33],"wheel-spoke":[35],"leg":[36,86],"(WSLegMech)":[38],"are":[39],"introduced.":[40],"Based":[41],"on":[42],"the":[43,51,60,68,74,80,100,103],"established":[44],"models,":[46],"multiple":[47],"experiments":[48],"effectively":[49],"validate":[50],"robot's":[52],"capabilities":[53],"in":[54,67,73,79,99,112],"all":[55],"morphologies,":[57],"demonstrating":[58],"that":[59],"robot":[61],"can":[62,94],"adapt":[63],"to":[64],"various":[65],"terrains":[66],"leg-morphology,":[69],"overcome":[70],"step":[71],"obstacles":[72],"spoke-morphology,":[75],"roll":[77],"forward":[78],"wheel-morphology.":[81],"locomotion":[83],"performance":[84],"wheel":[88],"morphology":[89],"evaluated.":[91],"Additionally,":[92],"TWLHex":[93],"even":[95],"climb":[96],"45\u00b0":[97],"stair":[98],"leg-morphology":[101,109],"motion":[104],"planning":[105],"stair-climbing":[107],"under":[108],"discussed":[111],"detail.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
