{"id":"https://openalex.org/W1974009669","doi":"https://doi.org/10.1109/robio.2011.6181727","title":"Gallop with speed change for quadruped robots","display_name":"Gallop with speed change for quadruped robots","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W1974009669","doi":"https://doi.org/10.1109/robio.2011.6181727","mag":"1974009669"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181727","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/A5034937444","display_name":"Seung Gyu Roh","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Seung Gyu Roh","raw_affiliation_strings":["Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","Department of Mechanical Engineering , Hanyang University , Seoul, 133-791, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Hanyang University , Seoul, 133-791, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103029432","display_name":"Jong Hyeon Park","orcid":"https://orcid.org/0000-0001-6263-375X"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jong Hyeon Park","raw_affiliation_strings":["Faculty of Mechanical Engineering, Hanyang University, Seoul, South Korea","Faculty of Mechanical Engineering, Hanyang University, Seoul, 133-791, Korea"],"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical Engineering, Hanyang University, Seoul, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"Faculty of Mechanical Engineering, Hanyang University, Seoul, 133-791, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034937444"],"corresponding_institution_ids":["https://openalex.org/I4575257"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.06387549,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2787","last_page":"2792"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9726999998092651,"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"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9609000086784363,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.7380087375640869},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.7276327610015869},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6172812581062317},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5661185383796692},{"id":"https://openalex.org/keywords/fuzzy-logic","display_name":"Fuzzy logic","score":0.5237793326377869},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.49680665135383606},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4678170382976532},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43462345004081726},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4251518249511719},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4161701798439026},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.41392290592193604},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3023029863834381},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24083945155143738},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21699640154838562},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14034926891326904},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10604119300842285},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09301277995109558},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.089956134557724}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7380087375640869},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.7276327610015869},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6172812581062317},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5661185383796692},{"id":"https://openalex.org/C58166","wikidata":"https://www.wikidata.org/wiki/Q224821","display_name":"Fuzzy logic","level":2,"score":0.5237793326377869},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.49680665135383606},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4678170382976532},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43462345004081726},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4251518249511719},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4161701798439026},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.41392290592193604},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3023029863834381},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24083945155143738},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21699640154838562},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14034926891326904},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10604119300842285},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09301277995109558},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.089956134557724},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181727","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181727","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":"Peace, Justice and strong institutions","score":0.6100000143051147,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1970426480","https://openalex.org/W2078139367","https://openalex.org/W2096836513","https://openalex.org/W2100245847","https://openalex.org/W2124409533","https://openalex.org/W2128166584","https://openalex.org/W2147663715","https://openalex.org/W2153860164","https://openalex.org/W2161427949","https://openalex.org/W2315767702","https://openalex.org/W6642851998","https://openalex.org/W6682056545"],"related_works":["https://openalex.org/W2252886949","https://openalex.org/W2943999278","https://openalex.org/W2042469328","https://openalex.org/W2064160202","https://openalex.org/W4205978539","https://openalex.org/W2666127738","https://openalex.org/W2975509575","https://openalex.org/W1975951604","https://openalex.org/W2318813743","https://openalex.org/W2804043415"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,28,61,134,151],"method":[4,204],"to":[5,39,58,122,139,165,176],"change":[6,166,177],"the":[7,17,31,70,74,84,90,97,105,118,129,141,146,157,167,178,182,191,201],"speed":[8],"of":[9,27,34,60,99,131,148,194],"gallop":[10,168],"for":[11,117,125,207],"quadruped":[13,29,192],"robot":[14],"by":[15,45,89],"controlling":[16],"vertical":[18],"ground":[19,107,119,142],"reaction":[20,108,120,143],"forces.":[21,144],"For":[22,128,145],"easy":[23],"and":[24,55,93,112,196],"stable":[25,81,126,208],"galloping":[26,82],"robot,":[30],"basic":[32],"motion":[33],"each":[35],"foot":[36],"with":[37],"respect":[38],"its":[40],"main":[41],"body":[42,75,85],"is":[43,52,67,77,87,110,115,137,160,174,205],"expressed":[44],"an":[46],"elliptic":[47,50,183],"path.":[48],"The":[49,64],"footpath":[51],"simple,":[53],"efficient":[54],"quite":[56],"similar":[57],"that":[59,200],"four-legged":[62],"animal.":[63],"desired":[65,106],"GRF":[66],"computed":[68],"using":[69],"momentum":[71],"equation.":[72],"Since":[73],"balance":[76,86],"very":[78],"important":[79],"in":[80,163],"locomotion,":[83],"determined":[88],"measured":[91],"roll":[92,132],"pitch":[94,149,158],"angles":[95],"at":[96],"moment":[98],"touch":[100],"down.":[101],"Based":[102],"on":[103,156,181,190],"this,":[104],"force":[109,113,121],"computed,":[111],"control":[114,130,147,153],"used":[116,138,175],"track":[123],"it":[124],"gallop.":[127,209],"motion,":[133,150],"fuzzy-logic":[135],"controller":[136,173],"redistribute":[140],"fixed":[152],"law":[154],"based":[155,189],"error":[159],"used.":[161],"And,":[162],"order":[164],"speed,":[169],"another":[170],"fuzzy":[171],"logic":[172],"TD":[179],"position":[180],"footpath.":[184],"Computer":[185],"simulations":[186],"were":[187],"done":[188],"model":[193],"HUNTER,":[195],"their":[197],"results":[198],"showed":[199],"proposed":[202],"generation":[203],"effective":[206]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}