{"id":"https://openalex.org/W4416582691","doi":"https://doi.org/10.1109/lra.2025.3636024","title":"Whole-Body Impedance Coordinative Control for a Wheel-Legged Robot on Uncertain Terrain","display_name":"Whole-Body Impedance Coordinative Control for a Wheel-Legged Robot on Uncertain Terrain","publication_year":2025,"publication_date":"2025-11-24","ids":{"openalex":"https://openalex.org/W4416582691","doi":"https://doi.org/10.1109/lra.2025.3636024"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2025.3636024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3636024","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/A5102170866","display_name":"Lei Shi","orcid":"https://orcid.org/0009-0003-8190-7711"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Shi","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017983395","display_name":"Xinghua Yu","orcid":"https://orcid.org/0000-0002-1313-6578"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinghua Yu","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100823327","display_name":"Cheng Zhou","orcid":"https://orcid.org/0000-0003-3412-854X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Zhou","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080381229","display_name":"Yuwei Du","orcid":"https://orcid.org/0009-0008-4840-6049"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuwei Du","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100328343","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0003-1931-3085"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017350249","display_name":"Wanxin Jin","orcid":"https://orcid.org/0000-0001-5330-855X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]},{"id":"https://openalex.org/I55732556","display_name":"Arizona State University","ror":"https://ror.org/03efmqc40","country_code":"US","type":"education","lineage":["https://openalex.org/I55732556"]}],"countries":["CN","US"],"is_corresponding":false,"raw_author_name":"Wanxin Jin","raw_affiliation_strings":["School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"School for Engineering of Matter, Transport and Energy, Arizona State University, Tempe, AZ, USA","institution_ids":["https://openalex.org/I55732556"]},{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108841239","display_name":"Yaping Wang","orcid":"https://orcid.org/0000-0002-4032-4830"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuquan Wang","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030364414","display_name":"Wanchao Chi","orcid":"https://orcid.org/0000-0002-0737-1416"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wanchao Chi","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075568384","display_name":"Shenghao Zhang","orcid":"https://orcid.org/0000-0002-3870-1975"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shenghao Zhang","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100342587","display_name":"Dongsheng Zhang","orcid":"https://orcid.org/0000-0002-8043-302X"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dongsheng Zhang","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100335129","display_name":"Xiong Li","orcid":"https://orcid.org/0000-0001-5324-1404"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiong Li","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058849717","display_name":"Zhengyou Zhang","orcid":"https://orcid.org/0000-0002-6606-2525"},"institutions":[{"id":"https://openalex.org/I2250653659","display_name":"Tencent (China)","ror":"https://ror.org/00hhjss72","country_code":"CN","type":"company","lineage":["https://openalex.org/I2250653659"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengyou Zhang","raw_affiliation_strings":["Tencent Robotics X Lab, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Tencent Robotics X Lab, Shenzhen, China","institution_ids":["https://openalex.org/I2250653659"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":12,"corresponding_author_ids":["https://openalex.org/A5102170866"],"corresponding_institution_ids":["https://openalex.org/I2250653659"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.35096621,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"2","first_page":"1042","last_page":"1049"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9664999842643738,"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":0.9664999842643738,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.023800000548362732,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.001500000013038516,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/terrain","display_name":"Terrain","score":0.743399977684021},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7217000126838684},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6657999753952026},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6355000138282776},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6292999982833862},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5873000025749207},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5842999815940857},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.5446000099182129}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.743399977684021},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7217000126838684},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6657999753952026},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6355000138282776},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6292999982833862},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5873000025749207},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5842999815940857},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.5446000099182129},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49300000071525574},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.48350000381469727},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48010000586509705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.45019999146461487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.45010000467300415},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.43130001425743103},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4131999909877777},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.3391000032424927},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.33500000834465027},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33009999990463257},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3278000056743622},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.31150001287460327},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3027999997138977},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.29649999737739563},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2912999987602234},{"id":"https://openalex.org/C113805353","wikidata":"https://www.wikidata.org/wiki/Q13424600","display_name":"Impedance parameters","level":3,"score":0.2720000147819519}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3636024","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3636024","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":28,"referenced_works":["https://openalex.org/W1272591048","https://openalex.org/W1965127215","https://openalex.org/W1969366849","https://openalex.org/W2043831253","https://openalex.org/W2045083712","https://openalex.org/W2064364553","https://openalex.org/W2104181254","https://openalex.org/W2571115941","https://openalex.org/W2803575051","https://openalex.org/W2889693550","https://openalex.org/W2891172891","https://openalex.org/W2965045310","https://openalex.org/W2967793392","https://openalex.org/W2988334419","https://openalex.org/W3000354568","https://openalex.org/W3011337332","https://openalex.org/W4281254335","https://openalex.org/W4283734789","https://openalex.org/W4310746161","https://openalex.org/W4312646552","https://openalex.org/W4313598687","https://openalex.org/W4383097502","https://openalex.org/W4387682164","https://openalex.org/W4389692427","https://openalex.org/W4392208050","https://openalex.org/W4398226127","https://openalex.org/W4412451252","https://openalex.org/W4413917178"],"related_works":[],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,10,30,38,96,109],"whole-body":[4,63,103],"impedance":[5,40],"coordinative":[6,104],"control":[7,32,64,105],"framework":[8,28],"for":[9,85,120],"wheel-legged":[11],"humanoid":[12,113],"robot":[13],"to":[14,47],"achieve":[15],"adaptability":[16],"on":[17,73,108],"complex":[18],"terrains":[19],"while":[20,55,83],"maintaining":[21],"the":[22,44,49,52],"robot's":[23],"upper":[24,53],"body":[25,54],"stability.":[26],"The":[27,34,59,101],"contains":[29],"bi-level":[31],"strategy.":[33,100],"outer":[35],"level":[36,61],"is":[37],"variable-damping":[39],"controller,":[41],"which":[42],"optimizes":[43],"damping":[45],"parameters":[46],"ensure":[48],"stability":[50],"of":[51],"holding":[56],"an":[57],"object.":[58],"inner":[60],"employs":[62],"(WBC)":[65],"optimization":[66],"that":[67],"integrates":[68],"real-time":[69,92],"terrain":[70,93],"estimation":[71],"based":[72],"wheel-foot":[74],"position":[75],"and":[76,95,124,130],"force":[77],"data.":[78],"It":[79],"generates":[80],"motor":[81],"torques":[82],"accounting":[84],"dynamic":[86],"constraints,":[87],"joint":[88],"limits,":[89],"friction":[90,98],"cones,":[91],"updates,":[94],"model-free":[97],"compensation":[99],"proposed":[102],"method,":[106],"tested":[107],"newly":[110],"developed":[111],"quadruped":[112],"robot,":[114],"effectively":[115],"enables":[116],"passive":[117],"stable":[118],"manipulation":[119],"both":[121],"indoor":[122],"water-carrying":[123],"outdoor":[125],"box-carrying":[126],"tasks":[127],"across":[128],"varying":[129],"uneven":[131],"terrains.":[132]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-11-25T00:00:00"}
