{"id":"https://openalex.org/W2024487684","doi":"https://doi.org/10.1109/robio.2011.6181302","title":"Legged gaits planning for a novel ePaddle-based amphibious robot","display_name":"Legged gaits planning for a novel ePaddle-based amphibious robot","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2024487684","doi":"https://doi.org/10.1109/robio.2011.6181302","mag":"2024487684"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"},"type":"conference-paper","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/A5027923938","display_name":"Yi Sun","orcid":"https://orcid.org/0000-0002-0906-5682"},"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":"Yi Sun","raw_affiliation_strings":["Department of Robotics, Ritsumeikan University, Shiga, Japan","Department of Robotics, Ritsumeikan University, 525-8577, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 525-8577, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"last","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, Shiga, Japan","Department of Robotics, Ritsumeikan University, 525-8577, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]},{"raw_affiliation_string":"Department of Robotics, Ritsumeikan University, 525-8577, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135768898"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"40","issue":null,"first_page":"299","last_page":"304"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"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"}},{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.996399998664856,"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/gait","display_name":"Gait","score":0.7124394774436951},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.7076647877693176},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6754663586616516},{"id":"https://openalex.org/keywords/paddle","display_name":"Paddle","score":0.6636225581169128},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6412363052368164},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5942578911781311},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5567808747291565},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42146554589271545},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3862481117248535},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35294586420059204},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1981159746646881},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.08594083786010742}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7124394774436951},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.7076647877693176},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6754663586616516},{"id":"https://openalex.org/C165150422","wikidata":"https://www.wikidata.org/wiki/Q449573","display_name":"Paddle","level":2,"score":0.6636225581169128},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6412363052368164},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5942578911781311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5567808747291565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42146554589271545},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3862481117248535},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35294586420059204},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1981159746646881},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.08594083786010742},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.5699999928474426}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1548058949","https://openalex.org/W1998580099","https://openalex.org/W2004854738","https://openalex.org/W2089628998","https://openalex.org/W2094247195","https://openalex.org/W2104976581","https://openalex.org/W2106068511","https://openalex.org/W2116054567","https://openalex.org/W2118494082","https://openalex.org/W2119605077","https://openalex.org/W2151830656","https://openalex.org/W2155623974","https://openalex.org/W2159924604","https://openalex.org/W2160303143","https://openalex.org/W3193680531","https://openalex.org/W6682064433","https://openalex.org/W6799996692"],"related_works":["https://openalex.org/W1992956164","https://openalex.org/W2775028049","https://openalex.org/W2087283056","https://openalex.org/W1580637061","https://openalex.org/W1511563303","https://openalex.org/W3080852575","https://openalex.org/W1536304773","https://openalex.org/W2112054830","https://openalex.org/W1533660521","https://openalex.org/W2084951977"],"abstract_inverted_index":{"In":[0],"this":[1,67],"paper,":[2],"we":[3,92],"present":[4],"legged":[5,45,60,89],"walking":[6],"gaits":[7,38,61,65],"for":[8,82],"an":[9,83],"amphibious":[10],"reconfigurable":[11],"robot":[12],"based":[13],"on":[14,56],"a":[15,25,75,95,100,108],"novel":[16,26,96],"eccentric":[17],"paddle":[18],"mechanism":[19,23,27],"(ePaddle).":[20],"The":[21,69,87,113],"ePaddle":[22],"is":[24,29,72,94],"that":[28,78,91],"versatility":[30],"in":[31,66],"locomotion":[32],"gaits.":[33,53],"Five":[34],"principal":[35],"kinds":[36],"of":[37,59],"can":[39],"be":[40],"achieved,":[41],"including":[42],"wheel-like":[43],"rolling,":[44,48],"walking,":[46],"wheel-leg-integrated":[47],"and":[49,106,120,124],"two":[50,57],"aquatic":[51],"paddling":[52],"We":[54],"focus":[55],"types":[58],"among":[62],"those":[63],"possible":[64],"paper.":[68],"first":[70],"one":[71],"adopted":[73],"from":[74],"crawl":[76],"gait":[77,90,97],"was":[79],"designed":[80],"originally":[81],"open-link-based":[84],"quadrupedal":[85],"robot.":[86],"second":[88],"introduce":[93],"which":[98],"has":[99],"duty":[101],"factor":[102],"up":[103],"to":[104],"1.0":[105],"keeps":[107],"larger":[109],"static":[110],"stability":[111],"margin.":[112],"detailed":[114],"motion":[115],"planning":[116],"methods":[117],"are":[118],"introduced":[119],"verified":[121],"by":[122],"simulations":[123],"experiments.":[125]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
