{"id":"https://openalex.org/W2091268203","doi":"https://doi.org/10.1109/robio.2014.7090641","title":"Varying velocity hopping gait planning of a one-legged robot","display_name":"Varying velocity hopping gait planning of a one-legged robot","publication_year":2014,"publication_date":"2014-12-01","ids":{"openalex":"https://openalex.org/W2091268203","doi":"https://doi.org/10.1109/robio.2014.7090641","mag":"2091268203"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2014.7090641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","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/A5048141581","display_name":"Haili Qian","orcid":"https://orcid.org/0000-0003-0652-4801"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haili Qian","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021631382","display_name":"Lei Sun","orcid":"https://orcid.org/0000-0002-8886-9012"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lei Sun","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001360549","display_name":"Ruitao Qiu","orcid":null},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruitao Qiu","raw_affiliation_strings":["Ruitao Qiu is with the Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ruitao Qiu is with the Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China","institution_ids":["https://openalex.org/I205237279"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030233306","display_name":"Jingtai Liu","orcid":"https://orcid.org/0000-0003-2645-5655"},"institutions":[{"id":"https://openalex.org/I205237279","display_name":"Nankai University","ror":"https://ror.org/01y1kjr75","country_code":"CN","type":"education","lineage":["https://openalex.org/I205237279"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingtai Liu","raw_affiliation_strings":["Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System Nankai University, Tianjin, China","institution_ids":["https://openalex.org/I205237279"]},{"raw_affiliation_string":"Tianjin Key Laboratory of Intelligent Robotics and the Institute of Robotics and Automatic Information System, Nankai University, Tianjin, 300450 China","institution_ids":["https://openalex.org/I205237279"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I205237279"],"apc_list":null,"apc_paid":null,"fwci":1.201,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.78204388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"28","issue":null,"first_page":"2068","last_page":"2073"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9936000108718872,"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":0.9739999771118164,"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/robot","display_name":"Robot","score":0.6621172428131104},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6233755350112915},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6069369316101074},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5657261610031128},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4801892042160034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47838345170021057},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4631447494029999},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.46104925870895386},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.42030540108680725},{"id":"https://openalex.org/keywords/eulers-formula","display_name":"Euler's formula","score":0.416839063167572},{"id":"https://openalex.org/keywords/phase-transition","display_name":"Phase transition","score":0.4152362048625946},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.399131715297699},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2987254858016968},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2819153964519501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1949896514415741},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18636071681976318},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12018716335296631},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11953061819076538},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.09787508845329285}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6621172428131104},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6233755350112915},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6069369316101074},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5657261610031128},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4801892042160034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47838345170021057},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4631447494029999},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.46104925870895386},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.42030540108680725},{"id":"https://openalex.org/C62884695","wikidata":"https://www.wikidata.org/wiki/Q184871","display_name":"Euler's formula","level":2,"score":0.416839063167572},{"id":"https://openalex.org/C149288129","wikidata":"https://www.wikidata.org/wiki/Q185357","display_name":"Phase transition","level":2,"score":0.4152362048625946},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.399131715297699},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2987254858016968},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2819153964519501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1949896514415741},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18636071681976318},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12018716335296631},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11953061819076538},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.09787508845329285},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2014.7090641","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2014.7090641","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life below water","id":"https://metadata.un.org/sdg/14","score":0.5799999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W253703761","https://openalex.org/W1983815930","https://openalex.org/W1985146165","https://openalex.org/W2057737860","https://openalex.org/W2091214273","https://openalex.org/W2119491087","https://openalex.org/W2132347660","https://openalex.org/W2149164159","https://openalex.org/W2352795365"],"related_works":["https://openalex.org/W126060250","https://openalex.org/W1764572413","https://openalex.org/W3150915502","https://openalex.org/W4321378240","https://openalex.org/W2998375644","https://openalex.org/W2111158727","https://openalex.org/W4386596973","https://openalex.org/W2024668666","https://openalex.org/W3049557657","https://openalex.org/W2113408265"],"abstract_inverted_index":{"For":[0],"the":[1,44,60,77,87,104],"one-legged":[2],"robot,":[3],"a":[4,83],"modified":[5],"SLIP":[6],"model":[7],"is":[8,74],"studied":[9],"in":[10,24,66,109],"this":[11,100,110],"paper":[12,111],"and":[13,21,50,90],"dynamical":[14],"characteristics":[15],"of":[16,47,70,79,86,103],"flight":[17],"phase,":[18],"impact":[19],"phase":[20,23],"stance":[22],"hopping":[25,49,89],"gait":[26,45,106],"are":[27,36,55,96,112],"analyzed.":[28],"A":[29],"hybrid":[30],"dynamics":[31],"correspond":[32],"to":[33],"these":[34],"phases":[35],"derived":[37],"by":[38,99,114],"Newton-Euler":[39],"Recursive":[40],"Approach.":[41],"Through":[42],"dynamics,":[43],"planning":[46,84,107],"stable":[48,88],"different":[51,93],"forwarding":[52,94],"velocities":[53,95],"transition":[54,91],"mathematically":[56],"described.":[57],"Based":[58],"on":[59],"Serial":[61],"Elastic":[62],"Actuator":[63],"(SEA)":[64],"mounted":[65],"joints,":[67],"one":[68],"formulation":[69],"system":[71],"actuated":[72],"force/torque":[73],"proposed":[75,105],"from":[76],"point":[78],"energy":[80],"injection.":[81],"Then":[82],"procedure":[85],"between":[92],"described":[97],"respectively":[98],"formulation.":[101],"Feasibilities":[102],"method":[108],"verified":[113],"simulations.":[115]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
