{"id":"https://openalex.org/W2291149858","doi":"https://doi.org/10.1109/robio.2015.7407033","title":"Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot","display_name":"Non-horizontal ricochetal brachiation motion planning and control for two-link Bio-primate robot","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291149858","doi":"https://doi.org/10.1109/robio.2015.7407033","mag":"2291149858"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7407033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7407033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5026041585","display_name":"Dengke Wan","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dengke Wan","raw_affiliation_strings":["Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101454916","display_name":"Hongtai Cheng","orcid":"https://orcid.org/0000-0001-7579-5803"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtai Cheng","raw_affiliation_strings":["Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051849845","display_name":"Guangfei Ji","orcid":null},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangfei Ji","raw_affiliation_strings":["Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100328226","display_name":"Shuai Wang","orcid":"https://orcid.org/0000-0001-6598-5371"},"institutions":[{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Wang","raw_affiliation_strings":["Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Automation, Northeastern University, Shenyang, Liaoning, China","institution_ids":["https://openalex.org/I9224756"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026041585"],"corresponding_institution_ids":["https://openalex.org/I9224756"],"apc_list":null,"apc_paid":null,"fwci":0.7081,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.71902421,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"19","last_page":"24"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9815999865531921,"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":0.9678000211715698,"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/trajectory","display_name":"Trajectory","score":0.7688494920730591},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7588987350463867},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6876033544540405},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5800877213478088},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5776039958000183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5606182217597961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5550671219825745},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5275917649269104},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4599851965904236},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.4448551535606384},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4304961562156677},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38549214601516724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3616484999656677},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30470743775367737},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28052955865859985}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7688494920730591},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7588987350463867},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6876033544540405},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5800877213478088},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5776039958000183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5606182217597961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5550671219825745},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5275917649269104},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4599851965904236},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.4448551535606384},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4304961562156677},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38549214601516724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3616484999656677},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30470743775367737},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28052955865859985},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7407033","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7407033","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1930040140","https://openalex.org/W2048222901","https://openalex.org/W2071984459","https://openalex.org/W2119297666","https://openalex.org/W2142129001","https://openalex.org/W2153885391","https://openalex.org/W2156304253","https://openalex.org/W2160887373","https://openalex.org/W2167322920","https://openalex.org/W2329801992","https://openalex.org/W2351756417","https://openalex.org/W2358303270","https://openalex.org/W2362611448","https://openalex.org/W2374125825","https://openalex.org/W2383871378","https://openalex.org/W4246533613","https://openalex.org/W6707308951","https://openalex.org/W6710520914"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W1485310626","https://openalex.org/W33907905","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W4293094921","https://openalex.org/W4321093571","https://openalex.org/W4283589342"],"abstract_inverted_index":{"Ricochetal":[0],"Brachiation":[1],"is":[2,27,144,164],"a":[3,87,159],"sophisticated":[4],"locomotion":[5,23,64],"for":[6,31,36,124],"Bio-primate":[7],"robot.":[8],"It":[9],"requires":[10],"precise":[11],"cooperation":[12],"of":[13,17,22,57,172],"three":[14],"different":[15,48],"types":[16],"locomotion.":[18],"The":[19],"tight":[20],"coupling":[21,65],"and":[24,69,74,77,81,90,102,108,117,140,166,177],"underactuated":[25],"characteristics":[26],"the":[28,37,54,58,63,71,79,99,106,121,129,149,154,167,170,173],"main":[29],"difficulties":[30],"realizing":[32],"ricochetal":[33,39,92,160],"brachiation.":[34],"Moreover,":[35],"non-horizontal":[38],"brachiation,":[40],"which":[41,119],"refers":[42],"brachiating":[43],"among":[44],"supporting":[45,113],"bars":[46,114],"with":[47],"heights,":[49],"another":[50],"difficulty":[51,130],"orients":[52],"from":[53],"asymmetric":[55],"property":[56],"flight":[59],"trajectory.":[60],"To":[61,127],"solve":[62],"problem,":[66],"by":[67,132],"building":[68],"analyzing":[70],"segmented":[72],"dynamic":[73],"kinematic":[75],"models":[76],"considering":[78],"constraint":[80,136],"switching":[82],"condition,":[83],"this":[84],"paper":[85],"proposes":[86],"flexible,":[88],"comprehensive":[89],"adaptive":[91],"brachiation":[93,161],"motion":[94],"planning":[95,139,176],"algorithm":[96,122],"to":[97,146],"obtain":[98],"pre-flying":[100,155],"posture":[101,156],"post-flying":[103],"posture.":[104],"Also,":[105],"horizontal":[107],"vertical":[109],"differences":[110],"between":[111],"adjacent":[112],"are":[115],"modeled":[116],"included,":[118],"makes":[120],"applicable":[123],"general":[125],"configurations.":[126],"eliminate":[128],"brought":[131],"under-actuated":[133],"characteristics,":[134],"virtual":[135],"based":[137],"trajectory":[138,175],"tracking":[141],"control":[142,178],"method":[143],"adopted":[145],"ensure":[147],"that":[148],"system":[150],"can":[151],"arrive":[152],"in":[153],"accurately.":[157],"Finally,":[158],"simulation":[162],"model":[163],"built":[165],"results":[168],"show":[169],"effectiveness":[171],"proposed":[174],"strategy.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":4}],"updated_date":"2025-11-25T21:42:39.735039","created_date":"2025-10-10T00:00:00"}