{"id":"https://openalex.org/W4408235482","doi":"https://doi.org/10.1109/robio64047.2024.10907282","title":"A Wheeled Bipedal Robot Capable of Standing Jumps","display_name":"A Wheeled Bipedal Robot Capable of Standing Jumps","publication_year":2024,"publication_date":"2024-12-10","ids":{"openalex":"https://openalex.org/W4408235482","doi":"https://doi.org/10.1109/robio64047.2024.10907282"},"language":"en","primary_location":{"id":"doi:10.1109/robio64047.2024.10907282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101236343","display_name":"Zhanhao Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhanhao Xu","raw_affiliation_strings":["School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365558","display_name":"Junjie Chen","orcid":"https://orcid.org/0009-0005-2665-1279"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjie Chen","raw_affiliation_strings":["School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079542256","display_name":"B. Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Buxu Chen","raw_affiliation_strings":["School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032643885","display_name":"Peng Sun","orcid":"https://orcid.org/0000-0001-7683-7964"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peng Sun","raw_affiliation_strings":["School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000041250","display_name":"Guiling Xiao","orcid":"https://orcid.org/0000-0001-6753-4611"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guangyao Xiao","raw_affiliation_strings":["School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Science and Engineering (SMSE), Huazhong University of Science and Technology (HUST),State Key Laboratory of Intelligent Manufacturing Equipment and Technology (iMET),Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007258617","display_name":"Xin Luo","orcid":"https://orcid.org/0000-0002-7997-3934"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Luo","raw_affiliation_strings":["iMET, SMSE, HUST, and Guangdong Intelligent Robotics Institute,Dongguan,China,523106"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iMET, SMSE, HUST, and Guangdong Intelligent Robotics Institute,Dongguan,China,523106","institution_ids":["https://openalex.org/I4210142539"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1514","last_page":"1519"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9724000096321106,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9713000059127808,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7096837162971497},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.5870435833930969},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5037373900413513},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4386858642101288},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39738720655441284},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34122633934020996},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3163391947746277},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2689838111400604},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.09456968307495117},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08789414167404175},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06501603126525879}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7096837162971497},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.5870435833930969},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5037373900413513},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4386858642101288},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39738720655441284},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34122633934020996},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3163391947746277},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2689838111400604},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.09456968307495117},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08789414167404175},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06501603126525879}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio64047.2024.10907282","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio64047.2024.10907282","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3562241311","display_name":null,"funder_award_id":"2019ZT08Z780","funder_id":"https://openalex.org/F4320333334","funder_display_name":"Guangdong Province Introduction of Innovative R&D Team"},{"id":"https://openalex.org/G7492990069","display_name":null,"funder_award_id":"2019YFB1309502","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320333334","display_name":"Guangdong Province Introduction of Innovative R&D Team","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W2118935785","https://openalex.org/W3003894605","https://openalex.org/W3010920830","https://openalex.org/W3012010640","https://openalex.org/W3113883030","https://openalex.org/W3184620837","https://openalex.org/W3196438197","https://openalex.org/W3205946643","https://openalex.org/W4229368228","https://openalex.org/W4362547348","https://openalex.org/W4387209347","https://openalex.org/W4387831910","https://openalex.org/W4390099758"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2171912896","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W4231453746","https://openalex.org/W205041164","https://openalex.org/W2025415230","https://openalex.org/W4242718759","https://openalex.org/W2762381663"],"abstract_inverted_index":{"The":[0,13,80],"jumping":[1],"ability":[2],"significantly":[3],"improves":[4],"the":[5,45,126,130,134,139,143,147,150,159,162,165,169,189,199,203],"robot's":[6],"movement":[7],"range":[8],"and":[9,27,78,87,98,142,157,186,188,195],"obstacle":[10],"crossing":[11],"ability.":[12],"advantage":[14],"of":[15,48,66,129,133,149,152,161,202],"a":[16,31,63,120],"standing":[17,46,69,117,200],"jump":[18,201],"is":[19,22,52],"that":[20],"it":[21],"unaffected":[23],"by":[24],"terrain":[25],"conditions":[26],"does":[28],"not":[29],"require":[30],"run-up":[32,42],"or":[33],"runway":[34],"to":[35,41,57,105,177],"gain":[36],"initial":[37],"speed.":[38],"However,":[39],"compared":[40],"jumps,":[43,70,115],"controlling":[44],"jumps":[47,118],"wheeled":[49,109,135,181,204],"bipedal":[50,110,182,205],"robots":[51,111],"more":[53],"complex.":[54],"Robots":[55],"need":[56],"complete":[58],"various":[59],"state":[60],"transitions":[61],"in":[62,138],"short":[64],"period":[65],"time":[67],"for":[68],"including":[71],"balancing,":[72],"forward":[73],"leaning,":[74],"takeoff,":[75,91],"flight,":[76,97],"landing,":[77],"rebalancing.":[79],"robot":[81,137,163,183],"must":[82],"simultaneously":[83],"control":[84,176],"its":[85,93],"horizontal":[86],"vertical":[88,114],"velocities":[89],"during":[90,96,164],"adjust":[92],"body":[94],"posture":[95,160],"quickly":[99],"regain":[100],"balance":[101],"after":[102],"landing.":[103],"Due":[104],"these":[106],"difficulties,":[107],"many":[108],"have":[112],"achieved":[113],"but":[116],"remain":[119],"significant":[121],"challenge.":[122],"This":[123],"paper":[124,173],"studies":[125],"dynamic":[127],"model":[128],"sagittal":[131],"plane":[132],"biped":[136],"landing":[140,170],"phase":[141],"flight":[144,166],"phase,":[145],"plans":[146],"trajectory":[148],"center":[151],"mass":[153],"when":[154],"taking":[155],"off,":[156],"adjusts":[158],"phase.":[167],"During":[168],"process,":[171],"this":[172],"uses":[174],"impedance":[175],"reduce":[178],"impact.":[179],"A":[180],"was":[184,191],"designed":[185],"built,":[187],"algorithm":[190],"verified":[192],"through":[193],"simulation":[194],"experiments,":[196],"successfully":[197],"achieving":[198],"robot.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}