{"id":"https://openalex.org/W4390099895","doi":"https://doi.org/10.1109/robio58561.2023.10354849","title":"Stability Margin Based Gait Design on Slopes for a Novel Reconfigurable Quadruped Robot with a Foldable Trunk","display_name":"Stability Margin Based Gait Design on Slopes for a Novel Reconfigurable Quadruped Robot with a Foldable Trunk","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099895","doi":"https://doi.org/10.1109/robio58561.2023.10354849"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354849","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354849","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5100723152","display_name":"Jian Fu","orcid":"https://orcid.org/0000-0002-2680-0394"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Fu","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","Institute of Robotics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101413514","display_name":"Junpeng Chen","orcid":"https://orcid.org/0000-0003-3474-4377"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junpeng Chen","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","Institute of Robotics, Southern University of Science and Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100759911","display_name":"Zhao Tang","orcid":"https://orcid.org/0009-0004-6577-854X"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhao Tang","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","DR Robotics Ltd., Zhuhai, China"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"DR Robotics Ltd., Zhuhai, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101547104","display_name":"Zhenhua Wei","orcid":"https://orcid.org/0009-0008-3302-5040"},"institutions":[{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenhua Wei","raw_affiliation_strings":["Southern University of Science and Technology,Institute of Robotics,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Institute of Robotics,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040440410","display_name":"Jian S. Dai","orcid":"https://orcid.org/0000-0002-9729-1662"},"institutions":[{"id":"https://openalex.org/I183935753","display_name":"King's College London","ror":"https://ror.org/0220mzb33","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I183935753"]},{"id":"https://openalex.org/I3045169105","display_name":"Southern University of Science and Technology","ror":"https://ror.org/049tv2d57","country_code":"CN","type":"education","lineage":["https://openalex.org/I3045169105"]}],"countries":["CN","GB"],"is_corresponding":false,"raw_author_name":"Jian S. Dai","raw_affiliation_strings":["Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","Centre for Robotics Research, King's College London, London, United Kingdom"],"affiliations":[{"raw_affiliation_string":"Southern University of Science and Technology,Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Institute of Robotics, Southern University of Science and Technology, Shenzhen, China","institution_ids":["https://openalex.org/I3045169105"]},{"raw_affiliation_string":"Centre for Robotics Research, King's College London, London, United Kingdom","institution_ids":["https://openalex.org/I183935753"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100723152"],"corresponding_institution_ids":["https://openalex.org/I3045169105"],"apc_list":null,"apc_paid":null,"fwci":0.3371,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.55082446,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9898999929428101,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9240999817848206,"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/hexapod","display_name":"Hexapod","score":0.8207939863204956},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7679169774055481},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7286975383758545},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.6948593854904175},{"id":"https://openalex.org/keywords/trunk","display_name":"Trunk","score":0.5722526907920837},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.541049599647522},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5159912109375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5024082660675049},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4896460175514221},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.428214967250824},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4178912341594696},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2491663098335266},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1572767198085785},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10406306385993958}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.8207939863204956},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7679169774055481},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7286975383758545},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.6948593854904175},{"id":"https://openalex.org/C2781197403","wikidata":"https://www.wikidata.org/wiki/Q193472","display_name":"Trunk","level":2,"score":0.5722526907920837},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.541049599647522},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5159912109375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5024082660675049},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4896460175514221},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.428214967250824},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4178912341594696},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2491663098335266},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1572767198085785},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10406306385993958},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio58561.2023.10354849","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354849","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"id":"https://metadata.un.org/sdg/15","display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1970457658","https://openalex.org/W1985585736","https://openalex.org/W2012761748","https://openalex.org/W2015654790","https://openalex.org/W2036484113","https://openalex.org/W2041793484","https://openalex.org/W2053241953","https://openalex.org/W2059370216","https://openalex.org/W2075292595","https://openalex.org/W2112987951","https://openalex.org/W2141617881","https://openalex.org/W2167635133","https://openalex.org/W2470094176","https://openalex.org/W2921251289","https://openalex.org/W2967118761","https://openalex.org/W2968213087","https://openalex.org/W2972560514","https://openalex.org/W4224257555","https://openalex.org/W4247162555","https://openalex.org/W4387094495","https://openalex.org/W6823173665","https://openalex.org/W6995547499"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W132946187","https://openalex.org/W2470916384","https://openalex.org/W4312379259"],"abstract_inverted_index":{"Traditional":[0],"quadruped":[1,20],"robots":[2,45],"typically":[3],"have":[4],"rigid":[5],"and":[6,13,26,83,137],"fixed":[7],"trunk,":[8],"which":[9],"limit":[10],"their":[11],"mobility":[12],"flexibility.":[14],"This":[15],"paper":[16],"introduces":[17],"a":[18,23,104],"novel":[19],"robot":[21,68,122],"with":[22,34],"reconfigurable":[24],"trunk":[25,56],"presents":[27],"an":[28],"adaptive":[29],"gait":[30,65],"design":[31],"on":[32,76,86,103],"slope":[33,105],"maximum":[35],"stability":[36,41,72,99],"margin.":[37],"The":[38,78,88],"analysis":[39],"of":[40,106,141],"margin":[42,73,100],"in":[43],"multi-leg":[44],"is":[46,110],"significant":[47],"for":[48],"achieving":[49],"smooth":[50],"walking":[51,75,102],"performance.":[52],"By":[53],"adjusting":[54],"the":[55,60,63,67,94,97,116,121,125],"folding":[57],"angle":[58],"using":[59],"waist":[61,126],"motor,":[62],"proposed":[64],"enables":[66],"to":[69,115,128],"achieve":[70],"optimal":[71],"during":[74,101],"slope.":[77],"strategy":[79],"was":[80],"thoroughly":[81],"investigated":[82],"experimentally":[84],"validated":[85],"slopes.":[87],"experimental":[89],"results":[90],"demonstrate":[91],"that":[92],"employing":[93],"designed":[95],"gait,":[96],"robot\u2019s":[98],"15<sup":[107],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[108],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u25cb</sup>":[109],"enhanced":[111],"by":[112],"24.7%":[113],"compared":[114],"conventional":[117],"walk":[118],"gait.":[119],"Furthermore,":[120],"can":[123],"utilize":[124],"motor":[127],"transform":[129],"between":[130],"different":[131],"biomimetic":[132],"configurations,":[133],"enhancing":[134],"environmental":[135],"adaptability":[136],"expanding":[138],"its":[139],"range":[140],"applications.":[142]},"counts_by_year":[{"year":2024,"cited_by_count":3}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}