{"id":"https://openalex.org/W4317383107","doi":"https://doi.org/10.1109/robio55434.2022.10011895","title":"Balancing Control of Wheeled-Legged Hexapedal Robots for Traversing Rough Terrains","display_name":"Balancing Control of Wheeled-Legged Hexapedal Robots for Traversing Rough Terrains","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383107","doi":"https://doi.org/10.1109/robio55434.2022.10011895"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011895","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011895","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5077958416","display_name":"Anqing Duan","orcid":"https://orcid.org/0000-0002-9666-018X"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Anqing Duan","raw_affiliation_strings":["The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021577566","display_name":"Bin Zhang","orcid":"https://orcid.org/0000-0001-6860-1951"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Bin Zhang","raw_affiliation_strings":["The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086635183","display_name":"Luyin Hu","orcid":"https://orcid.org/0000-0002-2931-8552"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Luyin Hu","raw_affiliation_strings":["The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054955661","display_name":"Lei Feng","orcid":"https://orcid.org/0000-0001-5703-5923"},"institutions":[{"id":"https://openalex.org/I86987016","display_name":"KTH Royal Institute of Technology","ror":"https://ror.org/026vcq606","country_code":"SE","type":"education","lineage":["https://openalex.org/I86987016"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Lei Feng","raw_affiliation_strings":["KTH Royal Institute of Technology,Department of Machine Design,Stockholm,Sweden,10044"],"affiliations":[{"raw_affiliation_string":"KTH Royal Institute of Technology,Department of Machine Design,Stockholm,Sweden,10044","institution_ids":["https://openalex.org/I86987016"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056734737","display_name":"David Navarro-Alarc\u00f3n","orcid":"https://orcid.org/0000-0002-3426-6638"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"David Navarro-Alarcon","raw_affiliation_strings":["The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong"],"affiliations":[{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN,Hong Kong","institution_ids":["https://openalex.org/I14243506"]},{"raw_affiliation_string":"The Hong Kong Polytechnic University (PolyU). Hung Hom. KLN, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5077958416"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33524442,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1905","last_page":"1910"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9961000084877014,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9941999912261963,"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/traverse","display_name":"Traverse","score":0.7818130254745483},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7578699588775635},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.724923312664032},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.598197340965271},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5963929891586304},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.506374716758728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48820167779922485},{"id":"https://openalex.org/keywords/linear-actuator","display_name":"Linear actuator","score":0.48665672540664673},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4696471095085144},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4454364776611328},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4404889941215515},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43489861488342285},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4292775094509125},{"id":"https://openalex.org/keywords/cartesian-coordinate-robot","display_name":"Cartesian coordinate robot","score":0.4205426573753357},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3927650451660156},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3468417525291443},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20968014001846313},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14400523900985718},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11391222476959229}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7818130254745483},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7578699588775635},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.724923312664032},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.598197340965271},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5963929891586304},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.506374716758728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48820167779922485},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.48665672540664673},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4696471095085144},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4454364776611328},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4404889941215515},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43489861488342285},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4292775094509125},{"id":"https://openalex.org/C118635694","wikidata":"https://www.wikidata.org/wiki/Q3268064","display_name":"Cartesian coordinate robot","level":5,"score":0.4205426573753357},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3927650451660156},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3468417525291443},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20968014001846313},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14400523900985718},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11391222476959229},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011895","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011895","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1563477615","https://openalex.org/W2525615903","https://openalex.org/W2592167124","https://openalex.org/W2908730104","https://openalex.org/W2915059514","https://openalex.org/W3001867454","https://openalex.org/W3002343488","https://openalex.org/W3011896035","https://openalex.org/W3028987574","https://openalex.org/W3088850019","https://openalex.org/W3113883030","https://openalex.org/W3120757422","https://openalex.org/W3130733935","https://openalex.org/W3177642153","https://openalex.org/W3189389042","https://openalex.org/W3195442237","https://openalex.org/W3199305245","https://openalex.org/W3201296773","https://openalex.org/W3206968312","https://openalex.org/W3216836113","https://openalex.org/W4206157839","https://openalex.org/W4206468239","https://openalex.org/W4210928358","https://openalex.org/W4220860608","https://openalex.org/W4221166649","https://openalex.org/W4225473247","https://openalex.org/W4282027540","https://openalex.org/W4283738268","https://openalex.org/W4289792781"],"related_works":["https://openalex.org/W2160983430","https://openalex.org/W1837495523","https://openalex.org/W2792156965","https://openalex.org/W3004220142","https://openalex.org/W4312826882","https://openalex.org/W2184665632","https://openalex.org/W4386618377","https://openalex.org/W2124086581","https://openalex.org/W2139772866","https://openalex.org/W2026970149"],"abstract_inverted_index":{"Robots":[0],"with":[1,149,212],"wheeled-legged":[2,50],"morphology":[3],"usually":[4],"inherit":[5],"the":[6,21,44,72,80,87,92,108,133,147,155,158,162,167,171,174,177,181,185,190,200,207],"merits":[7],"from":[8],"both":[9,213],"wheeled":[10],"vehicles":[11],"and":[12,180,215],"legged":[13],"machines.":[14],"The":[15,53,204],"hybrid":[16],"structure":[17],"can":[18,63,100,135,188],"greatly":[19],"enhance":[20],"mo-bility":[22],"capabilities":[23],"of":[24,35,48,71,86,94,157,173,176,184,196,206],"locomotive":[25],"robots,":[26],"making":[27],"these":[28],"robots":[29],"adaptable":[30],"to":[31,76,104,119,124,153],"a":[32,49,77,121],"wide":[33],"range":[34],"working":[36],"conditions.":[37],"In":[38],"this":[39,143],"paper,":[40],"we":[41,145,187],"specifically":[42],"consider":[43],"balancing":[45],"control":[46,122],"problem":[47],"hexapedal":[51],"robot.":[52,163],"employed":[54],"robot":[55,73,134,148,191],"platform":[56],"has":[57],"six":[58,128],"actively":[59],"articulated":[60],"wheels":[61],"that":[62,99,132],"be":[64],"independently":[65],"controlled.":[66],"More":[67],"precisely,":[68],"each":[69],"wheel":[70,110],"is":[74,89,118,210],"attached":[75],"hub":[78],"using":[79],"three-bar":[81],"linkage":[82],"mechanism,":[83],"where":[84],"one":[85],"links":[88],"realized":[90],"in":[91],"form":[93],"an":[95,112,150],"electric":[96],"linear":[97,129,178],"actuator":[98],"extend":[101],"or":[102,106],"retract":[103],"drop":[105],"lift":[107],"corresponding":[109],"following":[111],"arc":[113],"curve,":[114],"respectively.":[115],"Our":[116],"goal":[117],"devise":[120],"strategy":[123,209],"simultaneously":[125],"command":[126],"all":[127],"actuators":[130,179],"such":[131],"keep":[136],"stable":[137],"when":[138],"traversing":[139],"rough":[140],"terrains.":[141],"To":[142],"end,":[144],"equip":[146],"IMU":[151],"sensor":[152],"monitor":[154],"status":[156],"chassis":[159],"during":[160],"driving":[161],"By":[164],"analytically":[165],"establishing":[166],"kinematic":[168],"relationship":[169],"between":[170],"motion":[172],"rod":[175],"angle":[182],"change":[183],"chassis,":[186],"make":[189],"maintain":[192],"horizontal":[193],"by":[194],"means":[195],"active":[197],"suspension":[198],"given":[199],"current":[201],"tilt":[202],"angle.":[203],"effectiveness":[205],"proposed":[208],"verified":[211],"simulation":[214],"preliminary":[216],"real":[217],"experiments.":[218]},"counts_by_year":[],"updated_date":"2025-12-19T19:40:27.379048","created_date":"2025-10-10T00:00:00"}
