{"id":"https://openalex.org/W2115385653","doi":"https://doi.org/10.1109/robio.2010.5723525","title":"Research of a quadruped robot walking on a slope based on 4-leg supporting period","display_name":"Research of a quadruped robot walking on a slope based on 4-leg supporting period","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2115385653","doi":"https://doi.org/10.1109/robio.2010.5723525","mag":"2115385653"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5018376189","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0002-6796-9399"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lei Zhang","raw_affiliation_strings":["Department of engineering, Ocean University of China, Qingdao, Shandong, China","Department of engineering, Ocean University of China, Qingdao shan dong province, China"],"affiliations":[{"raw_affiliation_string":"Department of engineering, Ocean University of China, Qingdao, Shandong, China","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Department of engineering, Ocean University of China, Qingdao shan dong province, China","institution_ids":["https://openalex.org/I59028903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356415","display_name":"Lili Wang","orcid":"https://orcid.org/0000-0002-9568-1923"},"institutions":[{"id":"https://openalex.org/I59028903","display_name":"Ocean University of China","ror":"https://ror.org/04rdtx186","country_code":"CN","type":"education","lineage":["https://openalex.org/I59028903"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lili Wang","raw_affiliation_strings":["Department of engineering, Ocean University of China, Qingdao, Shandong, China","Department of engineering, Ocean University of China, Qingdao shan dong province, China"],"affiliations":[{"raw_affiliation_string":"Department of engineering, Ocean University of China, Qingdao, Shandong, China","institution_ids":["https://openalex.org/I59028903"]},{"raw_affiliation_string":"Department of engineering, Ocean University of China, Qingdao shan dong province, China","institution_ids":["https://openalex.org/I59028903"]}]},{"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/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":"Shugen Ma","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Japan","Department of Robotics, Ritsumeikan University of Japan, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University of Japan, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101645194","display_name":"Shan Gao","orcid":"https://orcid.org/0000-0001-9276-6940"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shan Gao","raw_affiliation_strings":["Software & Service Outsourcing School, Qingdao Technical College, Qingdao, Shandong, China","Software & Service Outsourcing School, Qingdao Technical collage, shan dong province, China"],"affiliations":[{"raw_affiliation_string":"Software & Service Outsourcing School, Qingdao Technical College, Qingdao, Shandong, China","institution_ids":[]},{"raw_affiliation_string":"Software & Service Outsourcing School, Qingdao Technical collage, shan dong province, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018376189"],"corresponding_institution_ids":["https://openalex.org/I59028903"],"apc_list":null,"apc_paid":null,"fwci":0.2174,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.61545892,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"1346","last_page":"1351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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":0.9980000257492065,"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/T14335","display_name":"Educational Robotics and Engineering","score":0.9542999863624573,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9465000033378601,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6805940270423889},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6235913634300232},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6151521801948547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6031931638717651},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5394170880317688},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5133939981460571},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4794232249259949},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44019004702568054},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4394036531448364},{"id":"https://openalex.org/keywords/transition","display_name":"Transition (genetics)","score":0.42544275522232056},{"id":"https://openalex.org/keywords/period","display_name":"Period (music)","score":0.42297104001045227},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.3410239815711975},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.28796273469924927},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26593947410583496},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.21976369619369507},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11814996600151062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06011807918548584}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6805940270423889},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6235913634300232},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6151521801948547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6031931638717651},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5394170880317688},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5133939981460571},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4794232249259949},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44019004702568054},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4394036531448364},{"id":"https://openalex.org/C194232998","wikidata":"https://www.wikidata.org/wiki/Q1606712","display_name":"Transition (genetics)","level":3,"score":0.42544275522232056},{"id":"https://openalex.org/C2781291010","wikidata":"https://www.wikidata.org/wiki/Q178580","display_name":"Period (music)","level":2,"score":0.42297104001045227},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.3410239815711975},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.28796273469924927},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26593947410583496},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.21976369619369507},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11814996600151062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06011807918548584},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2010.5723525","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723525","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},{"id":"mag:2393043544","is_oa":false,"landing_page_url":"http://en.cnki.com.cn/Article_en/CJFDTotal-WJSJ201029068.htm","pdf_url":null,"source":{"id":"https://openalex.org/S2764372747","display_name":"Microcomputer Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/P4361727474","host_organization_name":"China Computer Users Association","host_organization_lineage":["https://openalex.org/P4361727474"],"host_organization_lineage_names":["China Computer Users Association"],"type":"journal"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"Microcomputer Information","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6700000166893005,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W2096076198","https://openalex.org/W2100645561","https://openalex.org/W2103427741","https://openalex.org/W2112959173"],"related_works":["https://openalex.org/W2133973503","https://openalex.org/W2471060339","https://openalex.org/W3141840228","https://openalex.org/W2148547327","https://openalex.org/W2390631805","https://openalex.org/W1995781834","https://openalex.org/W2803913909","https://openalex.org/W2729676947","https://openalex.org/W4379933302","https://openalex.org/W2328573683"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,16,31,40,48,64,69],"omni-directional":[4],"static":[5],"walking":[6],"method":[7],"on":[8],"a":[9],"slope":[10],"is":[11,56],"proposed":[12],"and":[13,22,43,50,58,66],"problems":[14,34],"of":[15,47,68],"stability":[17,49],"in":[18,23],"gait":[19,51],"transition":[20,52],"processes":[21],"other":[24],"non-horizontal":[25],"environment":[26],"are":[27,60],"analyzed.":[28],"We":[29],"solved":[30],"sideways":[32],"motion":[33],"through":[35],"setting":[36],"coordinate":[37],"systems,":[38],"confirming":[39],"reachable":[41],"region":[42],"movement":[44],"area,":[45],"calculation":[46],"method.":[53],"Simulation":[54],"platform":[55],"established":[57],"experiments":[59],"executed":[61],"to":[62],"verify":[63],"feasibility":[65],"scientificity":[67],"opinion.":[70]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}