{"id":"https://openalex.org/W2150198249","doi":"https://doi.org/10.1109/robio.2009.5420453","title":"Kinematic control of dual-tripod walking robot with a steering-wheel","display_name":"Kinematic control of dual-tripod walking robot with a steering-wheel","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2150198249","doi":"https://doi.org/10.1109/robio.2009.5420453","mag":"2150198249"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2009.5420453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5101736786","display_name":"Guofu Wang","orcid":"https://orcid.org/0000-0002-5912-1662"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guofu Wang","raw_affiliation_strings":["School of Transportation Science and Technology, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048293972","display_name":"Feng Gao","orcid":"https://orcid.org/0000-0002-4969-5195"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Feng Gao","raw_affiliation_strings":["School of Transportation Science and Technology, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056982018","display_name":"Ying Cui","orcid":"https://orcid.org/0000-0002-1764-3526"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Cui","raw_affiliation_strings":["School of Transportation Science and Technology, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100558102","display_name":"Xinhong Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinhong Yang","raw_affiliation_strings":["School of Transportation Science and Technology, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Transportation Science and Technology, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101736786"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.18082761,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"12","issue":null,"first_page":"2415","last_page":"2420"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9959999918937683,"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":0.9959999918937683,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9783999919891357,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9667999744415283,"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/kinematics","display_name":"Kinematics","score":0.615460991859436},{"id":"https://openalex.org/keywords/tripod","display_name":"Tripod (photography)","score":0.6090598702430725},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5733866095542908},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5667024254798889},{"id":"https://openalex.org/keywords/torque-steering","display_name":"Torque steering","score":0.5487844944000244},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.48684781789779663},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4860411286354065},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4544617533683777},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4289041757583618},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3999510407447815},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3956218361854553},{"id":"https://openalex.org/keywords/steering-wheel","display_name":"Steering wheel","score":0.3790176212787628},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3268008232116699},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19790136814117432},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18902471661567688},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.1170589029788971},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09077993035316467}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.615460991859436},{"id":"https://openalex.org/C130614165","wikidata":"https://www.wikidata.org/wiki/Q683906","display_name":"Tripod (photography)","level":2,"score":0.6090598702430725},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5733866095542908},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5667024254798889},{"id":"https://openalex.org/C80932167","wikidata":"https://www.wikidata.org/wiki/Q7826801","display_name":"Torque steering","level":3,"score":0.5487844944000244},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.48684781789779663},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4860411286354065},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4544617533683777},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4289041757583618},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3999510407447815},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3956218361854553},{"id":"https://openalex.org/C2780354894","wikidata":"https://www.wikidata.org/wiki/Q679300","display_name":"Steering wheel","level":2,"score":0.3790176212787628},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3268008232116699},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19790136814117432},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18902471661567688},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.1170589029788971},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09077993035316467},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2009.5420453","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2009.5420453","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":11,"referenced_works":["https://openalex.org/W1549463464","https://openalex.org/W1960526078","https://openalex.org/W2009797417","https://openalex.org/W2101776138","https://openalex.org/W2157029139","https://openalex.org/W2271017249","https://openalex.org/W2674635625","https://openalex.org/W2704609663","https://openalex.org/W2993751970","https://openalex.org/W4385315835","https://openalex.org/W6770959961"],"related_works":["https://openalex.org/W2969850555","https://openalex.org/W2731552692","https://openalex.org/W2270823423","https://openalex.org/W2742626114","https://openalex.org/W929814723","https://openalex.org/W2070118837","https://openalex.org/W2388472246","https://openalex.org/W2377208232","https://openalex.org/W4313362262","https://openalex.org/W2112671702"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,10,15],"new":[4],"developed":[5],"dual-tripod":[6],"walking":[7,28,80],"robot":[8,13,27,90],"with":[9],"steering-wheel,":[11],"this":[12,89],"has":[14,91],"feature":[16],"of":[17,62,69],"independent":[18],"straight":[19,63,70],"going":[20,64,71],"control":[21,30,45],"and":[22,38,53,65,72,79,84,97],"omnidirectional":[23,73],"steering":[24,51,74],"control;":[25],"The":[26,67,77],"velocity":[29],"is":[31,46],"only":[32,47],"dependant":[33,48],"on":[34,49],"its":[35,42,50],"gait":[36],"period":[37],"stride":[39],"length,":[40],"while":[41],"motion":[43,56,60],"direction":[44,95],"wheel,":[52],"the":[54,59,85],"final":[55],"will":[57],"be":[58],"synthesis":[61],"steering.":[66],"gaits":[68],"are":[75,82],"planned.":[76],"simulation":[78],"experiments":[81],"performed,":[83],"results":[86],"confirm":[87],"that":[88],"high":[92],"performances":[93],"in":[94],"accuracy":[96],"stability.":[98]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}