{"id":"https://openalex.org/W4413980587","doi":"https://doi.org/10.1109/rcar65431.2025.11139622","title":"Analysis of Sprawling Quadruped Locomotion: Impact of Joint Configurations on Motion Performance","display_name":"Analysis of Sprawling Quadruped Locomotion: Impact of Joint Configurations on Motion Performance","publication_year":2025,"publication_date":"2025-06-01","ids":{"openalex":"https://openalex.org/W4413980587","doi":"https://doi.org/10.1109/rcar65431.2025.11139622"},"language":"en","primary_location":{"id":"doi:10.1109/rcar65431.2025.11139622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-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/A5100368698","display_name":"Zaiyang Liu","orcid":"https://orcid.org/0000-0002-3122-1143"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Zaiyang Liu","raw_affiliation_strings":["Ritsumeikan University,Graduate School of Science and Engineering,Kusatsu,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Graduate School of Science and Engineering,Kusatsu,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100778162","display_name":"Shugen Ma","orcid":"https://orcid.org/0000-0003-1155-8969"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]},{"id":"https://openalex.org/I889458895","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86","country_code":"HK","type":"education","lineage":["https://openalex.org/I889458895"]}],"countries":["CN","HK"],"is_corresponding":false,"raw_author_name":"Shugen Ma","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou),Robotics & Autonomous Systems Thrust, Systems Hub,Guangzhou,China,511453"],"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou),Robotics & Autonomous Systems Thrust, Systems Hub,Guangzhou,China,511453","institution_ids":["https://openalex.org/I90610280","https://openalex.org/I889458895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070648653","display_name":"Guoteng Zhang","orcid":"https://orcid.org/0000-0001-7705-2819"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoteng Zhang","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100752653","display_name":"Yang Tian","orcid":"https://orcid.org/0000-0003-1354-2143"},"institutions":[{"id":"https://openalex.org/I137975476","display_name":"Shinshu University","ror":"https://ror.org/0244rem06","country_code":"JP","type":"education","lineage":["https://openalex.org/I137975476"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yang Tian","raw_affiliation_strings":["Shinshu University,Department of Engineering,Nagano,Japan,390-8621"],"affiliations":[{"raw_affiliation_string":"Shinshu University,Department of Engineering,Nagano,Japan,390-8621","institution_ids":["https://openalex.org/I137975476"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103096540","display_name":"Longchuan Li","orcid":"https://orcid.org/0000-0001-8242-8243"},"institutions":[{"id":"https://openalex.org/I75390827","display_name":"Beijing University of Chemical Technology","ror":"https://ror.org/00df5yc52","country_code":"CN","type":"education","lineage":["https://openalex.org/I75390827"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Longchuan Li","raw_affiliation_strings":["Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China,100029"],"affiliations":[{"raw_affiliation_string":"Beijing University of Chemical Technology,College of Information Science and Technology,Beijing,China,100029","institution_ids":["https://openalex.org/I75390827"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067013129","display_name":"Zhongkui Wang","orcid":"https://orcid.org/0000-0003-4037-3306"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zhongkui Wang","raw_affiliation_strings":["Ritsumeikan University,Graduate School of Science and Engineering,Kusatsu,Japan,525-8577"],"affiliations":[{"raw_affiliation_string":"Ritsumeikan University,Graduate School of Science and Engineering,Kusatsu,Japan,525-8577","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100368698"],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.27556336,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"222","last_page":"227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9589999914169312,"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"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9437999725341797,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/joint","display_name":"Joint (building)","score":0.6178738474845886},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6019210815429688},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5419299602508545},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22651353478431702},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.15900316834449768},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07439953088760376}],"concepts":[{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6178738474845886},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6019210815429688},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5419299602508545},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22651353478431702},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.15900316834449768},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07439953088760376}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar65431.2025.11139622","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar65431.2025.11139622","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1964950687","https://openalex.org/W1995682655","https://openalex.org/W2025591707","https://openalex.org/W2042931329","https://openalex.org/W2048963734","https://openalex.org/W2101850483","https://openalex.org/W2113647903","https://openalex.org/W2131447440","https://openalex.org/W2149687052","https://openalex.org/W2271145832","https://openalex.org/W2469381446","https://openalex.org/W2471575410","https://openalex.org/W2587536580","https://openalex.org/W2734865481","https://openalex.org/W2805220438","https://openalex.org/W2807229064","https://openalex.org/W2910066306","https://openalex.org/W2998026442","https://openalex.org/W3027477076","https://openalex.org/W3126734155","https://openalex.org/W3196525103","https://openalex.org/W3206345823","https://openalex.org/W4205221679","https://openalex.org/W4402510726","https://openalex.org/W4402510807"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"The":[0,84],"configuration":[1,110],"of":[2,17,28,35,39,88,108],"limb":[3],"joints":[4,18],"has":[5],"a":[6],"significant":[7],"impact":[8],"on":[9,54],"the":[10,15,20,24,36,77,89,98,106],"sprawling":[11,40,117],"quadruped":[12,41,118],"locomotion.":[13],"Specifically,":[14],"arrangement":[16],"in":[19,100,111],"limbs":[21],"can":[22],"affect":[23],"effectiveness":[25,85],"and":[26,58,86],"efficiency":[27,87],"movement.":[29],"This":[30],"paper":[31],"presents":[32],"an":[33,59,70],"analysis":[34],"motion":[37,101,114],"performance":[38,115],"robots":[42,90],"with":[43,80],"different":[44,92],"joint":[45,82,109],"configurations.":[46,83],"A":[47],"primitive":[48],"robot":[49,78],"model":[50],"is":[51,63],"provided":[52],"based":[53],"morphological":[55],"design":[56],"principles,":[57],"inverse":[60],"kinematics-based":[61],"planner":[62],"developed.":[64],"Subsequently,":[65],"simulations":[66],"are":[67,94],"conducted":[68],"using":[69],"open-source":[71],"robotic":[72],"simulator,":[73],"Webots,":[74],"to":[75,96],"test":[76],"models":[79],"various":[81],"under":[91],"conditions":[93],"compared":[95],"validate":[97],"differences":[99],"performance.":[102],"Finally,":[103],"results":[104],"demonstrate":[105],"importance":[107],"achieving":[112],"desirable":[113],"for":[116],"robots.":[119]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}