{"id":"https://openalex.org/W2020637060","doi":"https://doi.org/10.1109/robio.2011.6181572","title":"Trajectory planning and posture adjustment of a quadruped robot for obstacle striding","display_name":"Trajectory planning and posture adjustment of a quadruped robot for obstacle striding","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2020637060","doi":"https://doi.org/10.1109/robio.2011.6181572","mag":"2020637060"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181572","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":"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/A5087210927","display_name":"Xuesong Shao","orcid":"https://orcid.org/0000-0003-0127-0291"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuesong Shao","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation Chinese Academy of Sciences  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences  Beijing China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071675435","display_name":"Yiping Yang","orcid":"https://orcid.org/0000-0002-1291-7460"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiping Yang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation Chinese Academy of Sciences  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences  Beijing China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100386113","display_name":"Ying Zhang","orcid":"https://orcid.org/0000-0002-3012-6435"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ying Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Beijing Institute of Technology, China","School of Mechanical Engineering,Beijing Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Beijing Institute of Technology, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechanical Engineering,Beijing Institute of Technology","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100392285","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-4023-2845"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4210112150","display_name":"Institute of Automation","ror":"https://ror.org/022c3hy66","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210112150"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Institute of Automation, Chinese Academy of Sciences, Beijing, China","Institute of Automation Chinese Academy of Sciences  Beijing China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]},{"raw_affiliation_string":"Institute of Automation Chinese Academy of Sciences  Beijing China","institution_ids":["https://openalex.org/I4210112150","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4314,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.65465269,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"1924","last_page":"1929"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9898999929428101,"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":0.9599000215530396,"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/control-theory","display_name":"Control theory (sociology)","score":0.7233588695526123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7077206373214722},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6524918675422668},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5842065215110779},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5360074043273926},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5280764102935791},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.4517969787120819},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.42358165979385376},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.37448370456695557},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36814504861831665},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23256433010101318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17002621293067932},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16441422700881958},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08956050872802734}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7233588695526123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7077206373214722},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6524918675422668},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5842065215110779},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5360074043273926},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5280764102935791},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.4517969787120819},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.42358165979385376},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.37448370456695557},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36814504861831665},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23256433010101318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17002621293067932},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16441422700881958},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08956050872802734},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181572","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181572","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":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.4399999976158142}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1847620715","https://openalex.org/W1972327710","https://openalex.org/W1988274707","https://openalex.org/W1999700479","https://openalex.org/W2023596708","https://openalex.org/W2054186704","https://openalex.org/W2065238107","https://openalex.org/W2077676902","https://openalex.org/W2093044630","https://openalex.org/W2095593876","https://openalex.org/W2101850325","https://openalex.org/W2102465439","https://openalex.org/W2107955862","https://openalex.org/W2139350791","https://openalex.org/W2140012811","https://openalex.org/W2144587497","https://openalex.org/W2144845614","https://openalex.org/W2148110735","https://openalex.org/W2150317946","https://openalex.org/W2159924604"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905","https://openalex.org/W2906946336"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,78,119],"control":[4],"method":[5,21],"of":[6,64,93,95,113,117],"trajectory":[7,92],"planning":[8],"and":[9,37,62],"posture":[10,79],"adjustment":[11,80],"for":[12,72,107],"quadruped":[13,76,102],"robots'":[14],"obstacle":[15],"striding.":[16],"The":[17,32,56,98],"addressed":[18],"mixed":[19],"parabola":[20],"plans":[22],"the":[23,45,60,69,73,84,91,111,114],"travelling":[24],"paths":[25],"over":[26],"obstacles":[27],"in":[28,121],"Cartesian":[29],"coordinate":[30],"system.":[31],"constraints":[33],"on":[34,83,101],"velocities,":[35],"accelerations,":[36],"jerks":[38],"at":[39],"waypoints":[40],"are":[41],"employed":[42],"to":[43,89],"generate":[44],"time-efficient":[46],"smooth":[47],"cubic":[48],"spline":[49],"joint":[50,65],"trajectories":[51,58],"by":[52],"nonlinear":[53],"optimization":[54],"technique.":[55],"planned":[57],"maximize":[59],"compliance":[61],"flexibility":[63],"movements.":[66],"To":[67],"guarantee":[68],"static":[70],"stability":[71],"pitch-pitch":[74],"type":[75],"robots,":[77],"strategy":[81],"based":[82],"potential":[85],"energy":[86],"is":[87],"investigated":[88],"regulate":[90],"Center":[94],"Gravity":[96],"(COG).":[97],"experimental":[99],"results":[100],"robot":[103],"FROG-I":[104],"(Four-legged":[105],"Robot":[106],"Optimal":[108],"Gaits)":[109],"prove":[110],"feasibility":[112],"proposed":[115],"approach":[116],"striding":[118],"board":[120],"natural":[122],"environment.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}