{"id":"https://openalex.org/W2288923680","doi":"https://doi.org/10.1109/robio.2015.7418914","title":"On the effects of design parameters on quadruped robot gaits","display_name":"On the effects of design parameters on quadruped robot gaits","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2288923680","doi":"https://doi.org/10.1109/robio.2015.7418914","mag":"2288923680"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418914","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/A5005912793","display_name":"Dimitrios Myrisiotis","orcid":"https://orcid.org/0000-0001-9585-1227"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Dimitrios Myrisiotis","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057980698","display_name":"Ioannis Poulakakis","orcid":"https://orcid.org/0000-0001-7045-1075"},"institutions":[{"id":"https://openalex.org/I86501945","display_name":"University of Delaware","ror":"https://ror.org/01sbq1a82","country_code":"US","type":"education","lineage":["https://openalex.org/I86501945"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ioannis Poulakakis","raw_affiliation_strings":["Department of Mechanical Engineering, University of Delaware, DE, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Delaware, DE, USA","institution_ids":["https://openalex.org/I86501945"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103025258","display_name":"Evangelos Papadopoulos","orcid":"https://orcid.org/0000-0001-5026-0554"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Evangelos Papadopoulos","raw_affiliation_strings":["School of Mechanical Engineering, National Technical University of Athens, Athens, Greece"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, National Technical University of Athens, Athens, Greece","institution_ids":["https://openalex.org/I174458059"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.13387594,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1072","last_page":"1077"},"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9484000205993652,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9276000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7199996709823608},{"id":"https://openalex.org/keywords/stride","display_name":"STRIDE","score":0.714572012424469},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6682904958724976},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6254293918609619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5887048840522766},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.495976060628891},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4874570369720459},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.4595990777015686},{"id":"https://openalex.org/keywords/class","display_name":"Class (philosophy)","score":0.4225744605064392},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.42001521587371826},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4188556969165802},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3863832950592041},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26449379324913025},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.2629464268684387},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23484745621681213},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21396026015281677},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20150402188301086},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12864989042282104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10753589868545532}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7199996709823608},{"id":"https://openalex.org/C18007350","wikidata":"https://www.wikidata.org/wiki/Q7394815","display_name":"STRIDE","level":2,"score":0.714572012424469},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6682904958724976},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6254293918609619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5887048840522766},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.495976060628891},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4874570369720459},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.4595990777015686},{"id":"https://openalex.org/C2777212361","wikidata":"https://www.wikidata.org/wiki/Q5127848","display_name":"Class (philosophy)","level":2,"score":0.4225744605064392},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.42001521587371826},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4188556969165802},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3863832950592041},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26449379324913025},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.2629464268684387},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23484745621681213},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21396026015281677},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20150402188301086},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12864989042282104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10753589868545532},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio.2015.7418914","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418914","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.718.1354","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.718.1354","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://research.me.udel.edu/%7Epoulakas/Publications/papers/MyPoPa_ROBIO15.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1589503602","https://openalex.org/W1973950610","https://openalex.org/W2016408784","https://openalex.org/W2089359955","https://openalex.org/W2123190101","https://openalex.org/W2150543704","https://openalex.org/W2156223378","https://openalex.org/W2161427949","https://openalex.org/W2177338808"],"related_works":["https://openalex.org/W3141840228","https://openalex.org/W3134497028","https://openalex.org/W4206661479","https://openalex.org/W4223565945","https://openalex.org/W2042585269","https://openalex.org/W1965885603","https://openalex.org/W2390631805","https://openalex.org/W3042389473","https://openalex.org/W4224211255","https://openalex.org/W2394325626"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"we":[3,81],"link":[4],"the":[5,14,21,71,79,83,91,96,105,112],"various":[6],"parameters":[7],"that":[8,16,41],"characterize":[9],"a":[10,53],"quadruped":[11,88],"robot":[12,55],"to":[13,46,70],"gait":[15],"it":[17],"eventually":[18],"opts":[19],"for":[20,64,95],"steady":[22],"state":[23],"part":[24],"of":[25,34,73,85,99,107],"its":[26,100],"locomotion.":[27],"We":[28],"then":[29],"introduce":[30],"an":[31,86],"appropriate":[32],"class":[33],"motion":[35,113],"patterns,":[36],"and":[37,60,90],"provide":[38],"some":[39,61],"evidence":[40],"certain":[42],"parameter":[43],"values":[44],"tend":[45],"favor":[47],"specific":[48],"pattern":[49],"subclasses.":[50],"This":[51],"offers":[52],"new":[54],"walking":[56],"behavior":[57],"qualitative":[58],"view":[59],"novel":[62],"guidelines":[63],"legged":[65],"systems":[66],"design,":[67],"in":[68],"regard":[69],"gait-effects":[72],"each":[74],"design":[75],"parameter.":[76],"To":[77],"accomplish":[78],"above,":[80],"adopt":[82],"use":[84,106],"underactuated":[87],"robot,":[89],"Hildebrand":[92],"diagrams":[93],"paradigm":[94],"succinct":[97],"portraiture":[98],"gaits,":[101],"as":[102,104],"well":[103],"two":[108],"distinct":[109],"definitions":[110],"regarding":[111],"stride.":[114]},"counts_by_year":[{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
