{"id":"https://openalex.org/W2592061967","doi":"https://doi.org/10.1109/robio.2016.7866601","title":"Configuration and trajectory optimization for a Gecko Inspired climbing robot with a Pendular waist","display_name":"Configuration and trajectory optimization for a Gecko Inspired climbing robot with a Pendular waist","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2592061967","doi":"https://doi.org/10.1109/robio.2016.7866601","mag":"2592061967"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 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/A5101465539","display_name":"Peihua Zhu","orcid":"https://orcid.org/0000-0003-4105-8746"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peihua Zhu","raw_affiliation_strings":["Robotics Institute, Beihang University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101887938","display_name":"Wei Wang","orcid":"https://orcid.org/0000-0003-3796-8229"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Wang","raw_affiliation_strings":["Robotics Institute, Beihang University, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Beihang University, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101984903","display_name":"Shilin Wu","orcid":"https://orcid.org/0000-0002-8197-0521"},"institutions":[{"id":"https://openalex.org/I4210161003","display_name":"Qingdao Center of Resource Chemistry and New Materials","ror":"https://ror.org/05x85k702","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210089297","https://openalex.org/I4210161003"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shilin Wu","raw_affiliation_strings":["CRRC Qingdao Sifang Co., Ltd., Qingdao, Shandong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CRRC Qingdao Sifang Co., Ltd., Qingdao, Shandong, China","institution_ids":["https://openalex.org/I4210161003"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101433803","display_name":"Xuepeng Li","orcid":"https://orcid.org/0000-0001-9071-6237"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuepeng Li","raw_affiliation_strings":["Beihang Univ, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang Univ, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007240493","display_name":"Fanguang Meng","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fanguang Meng","raw_affiliation_strings":["Beihang Univ, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beihang Univ, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5825,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.70646649,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"131","issue":null,"first_page":"1870","last_page":"1875"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9839000105857849,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.98089998960495,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/gecko","display_name":"Gecko","score":0.9233012199401855},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7285736799240112},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6114298105239868},{"id":"https://openalex.org/keywords/waist","display_name":"Waist","score":0.5827451944351196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5635201334953308},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.539516806602478},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.46642786264419556},{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.4289476275444031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.391876757144928},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38699033856391907},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.329906165599823},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24201560020446777},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2278306782245636},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.15245690941810608},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11778184771537781},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09891912341117859},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08255180716514587},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.0744469165802002}],"concepts":[{"id":"https://openalex.org/C2781006323","wikidata":"https://www.wikidata.org/wiki/Q16546828","display_name":"Gecko","level":2,"score":0.9233012199401855},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7285736799240112},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6114298105239868},{"id":"https://openalex.org/C2776193436","wikidata":"https://www.wikidata.org/wiki/Q236232","display_name":"Waist","level":3,"score":0.5827451944351196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5635201334953308},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.539516806602478},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.46642786264419556},{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.4289476275444031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.391876757144928},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38699033856391907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.329906165599823},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24201560020446777},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2278306782245636},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.15245690941810608},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11778184771537781},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09891912341117859},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08255180716514587},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0744469165802002},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C126322002","wikidata":"https://www.wikidata.org/wiki/Q11180","display_name":"Internal medicine","level":1,"score":0.0},{"id":"https://openalex.org/C511355011","wikidata":"https://www.wikidata.org/wiki/Q12174","display_name":"Obesity","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866601","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866601","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W70213806","https://openalex.org/W105522390","https://openalex.org/W1988185630","https://openalex.org/W2009800890","https://openalex.org/W2034701228","https://openalex.org/W2040499411","https://openalex.org/W2083398665","https://openalex.org/W2094460576","https://openalex.org/W2097356896","https://openalex.org/W2098179188","https://openalex.org/W2157678875","https://openalex.org/W2218746506","https://openalex.org/W2319967700","https://openalex.org/W2334235976","https://openalex.org/W3142895133","https://openalex.org/W6700307814"],"related_works":["https://openalex.org/W2106504650","https://openalex.org/W2029973929","https://openalex.org/W2323112089","https://openalex.org/W2324058214","https://openalex.org/W3109128554","https://openalex.org/W4312590534","https://openalex.org/W2168556971","https://openalex.org/W4205407652","https://openalex.org/W4377138153","https://openalex.org/W2047426691"],"abstract_inverted_index":{"Inspired":[0],"by":[1],"gecko's":[2],"movement":[3],"characteristics,":[4],"we":[5,89],"proposed":[6],"a":[7,22],"gecko":[8,108],"inspired":[9,19],"climbing":[10],"robot,":[11],"which":[12],"is":[13,34,80],"based":[14,82],"on":[15,73,83,111],"the":[16,44,49,53,65,74,87,91,96,103,106,112],"GPL":[17],"(Gecko":[18],"mechanism":[20],"with":[21],"Pendular":[23],"waist":[24,66],"and":[25,40,57],"Linear":[26],"legs)":[27],"model.":[28],"In":[29,86],"this":[30],"paper,":[31],"further":[32],"research":[33],"made":[35],"to":[36,47,94],"analysis":[37],"its":[38],"gait":[39],"continuity.":[41],"We":[42,62],"optimist":[43],"driving":[45,75],"angle":[46],"maintain":[48],"cyclical":[50],"movement.":[51],"Furthermore,":[52],"issues":[54],"related":[55],"configuration":[56,110],"motion":[58],"planning":[59],"are":[60],"discussed.":[61],"find":[63],"that":[64],"joint":[67],"elastic":[68],"coefficient":[69],"has":[70],"significant":[71],"effect":[72],"force.":[76],"The":[77,99],"optimization":[78],"trajectory":[79],"given":[81],"energy":[84],"consumption.":[85],"end,":[88],"do":[90],"prototype":[92],"experiment":[93],"verify":[95],"theoretical":[97],"analysis.":[98],"results":[100],"also":[101],"reveal":[102],"rationality":[104],"of":[105],"big":[107],"bionic":[109],"other":[113],"hand.":[114]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
