{"id":"https://openalex.org/W2111229299","doi":"https://doi.org/10.1109/robot.2008.4543217","title":"BILL-LEGS: Low computation emergent gait system for small mobile robots","display_name":"BILL-LEGS: Low computation emergent gait system for small mobile robots","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2111229299","doi":"https://doi.org/10.1109/robot.2008.4543217","mag":"2111229299"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","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/A5008557047","display_name":"William A. Lewinger","orcid":null},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"William A. Lewinger","raw_affiliation_strings":["Electrical Engineering and Computer Science Department, Western Reserve University, Cleveland, OH, USA","Case Western Reserve University, Cleveland,OH"],"affiliations":[{"raw_affiliation_string":"Electrical Engineering and Computer Science Department, Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Case Western Reserve University, Cleveland,OH","institution_ids":["https://openalex.org/I58956616"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065352683","display_name":"Roger D. Quinn","orcid":"https://orcid.org/0000-0002-8504-7160"},"institutions":[{"id":"https://openalex.org/I58956616","display_name":"Case Western Reserve University","ror":"https://ror.org/051fd9666","country_code":"US","type":"education","lineage":["https://openalex.org/I58956616"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roger D. Quinn","raw_affiliation_strings":["Mechanical and Aerospace Engineering Department, Western Reserve University, Cleveland, OH, USA","Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland (OH), USA"],"affiliations":[{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Western Reserve University, Cleveland, OH, USA","institution_ids":["https://openalex.org/I58956616"]},{"raw_affiliation_string":"Mechanical and Aerospace Engineering Department, Case Western Reserve University, Cleveland (OH), USA","institution_ids":["https://openalex.org/I58956616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5008557047"],"corresponding_institution_ids":["https://openalex.org/I58956616"],"apc_list":null,"apc_paid":null,"fwci":0.9689,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.77400448,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"251","last_page":"256"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9697999954223633,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9559999704360962,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.7690255045890808},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.7655091285705566},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.7511790990829468},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7303698658943176},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.6330576539039612},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5947245955467224},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.47890010476112366},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4643557071685791},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.45719921588897705},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4567185640335083},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4153309166431427},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3786112070083618},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37395620346069336},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2702336311340332},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.20275408029556274}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7690255045890808},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.7655091285705566},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.7511790990829468},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7303698658943176},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6330576539039612},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5947245955467224},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.47890010476112366},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4643557071685791},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.45719921588897705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4567185640335083},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4153309166431427},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3786112070083618},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37395620346069336},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2702336311340332},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.20275408029556274},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543217","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543217","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:alma.44SUR_INST:11138640690002346","is_oa":false,"landing_page_url":"https://openresearch.surrey.ac.uk/esploro/outputs/journalArticle/BILL-LEGS-Low-computation-emergent-gait-system/99511788802346","pdf_url":null,"source":{"id":"https://openalex.org/S4210197018","display_name":"View","issn_l":"2688-268X","issn":["2688-268X","2688-3988"],"is_oa":false,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:epubs.surrey.ac.uk:835485","is_oa":false,"landing_page_url":"http://epubs.surrey.ac.uk/835485/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400680","display_name":"Surrey Research Insight Open Access (The University of Surrey)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I28290843","host_organization_name":"University of Surrey","host_organization_lineage":["https://openalex.org/I28290843"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W124852912","https://openalex.org/W1498396034","https://openalex.org/W1535656812","https://openalex.org/W1538161498","https://openalex.org/W1971017172","https://openalex.org/W1977331952","https://openalex.org/W2017648441","https://openalex.org/W2075301351","https://openalex.org/W2080711264","https://openalex.org/W2103187451","https://openalex.org/W2126048208","https://openalex.org/W2135404930","https://openalex.org/W2334664435","https://openalex.org/W2544154271","https://openalex.org/W4210497730","https://openalex.org/W4237200682","https://openalex.org/W4285719527","https://openalex.org/W6605057071"],"related_works":["https://openalex.org/W4316095964","https://openalex.org/W2383001583","https://openalex.org/W2771395446","https://openalex.org/W2131084560","https://openalex.org/W3112038843","https://openalex.org/W3209836052","https://openalex.org/W2088310429","https://openalex.org/W2161641032","https://openalex.org/W2496340490","https://openalex.org/W3096135418"],"abstract_inverted_index":{"For":[0],"almost":[1],"two":[2],"decades,":[3],"Holk":[4],"Cruse's":[5,121],"leg":[6,77,172,176],"coordination":[7,81],"method":[8,26,82,117,146],"has":[9,27],"been":[10,28],"used":[11],"as":[12,37,108],"a":[13,32,109],"control":[14],"basis":[15],"for":[16,31,86,92],"generating":[17],"gaits":[18],"in":[19,73],"legged":[20,136],"robots.":[21,96],"His":[22],"stick":[23],"insect":[24],"inspired":[25],"successfully":[29],"implemented":[30,132],"number":[33],"of":[34,113,167,171],"robots":[35,137],"such":[36],"Robot":[38,41],"I":[39],"and":[40,49,76,147,164,175],"II,":[42,48],"the":[43,58,80,144],"TUM":[44],"Walking":[45],"Machine,":[46],"Tarry":[47],"BILL-Ant-p.":[50],"However,":[51],"some":[52,112,125],"engineers":[53],"have":[54],"had":[55],"difficulties":[56],"implementing":[57],"controller":[59],"when":[60],"trying":[61],"to":[62,71,111,130,160],"select":[63],"robust":[64],"mechanism":[65,161],"influence":[66],"weights":[67],"that":[68,127,156],"are":[69,154],"immune":[70],"variations":[72],"starting":[74,173],"pose":[75],"speed.":[78],"Additionally,":[79,152],"can":[83],"be":[84,131],"overwhelming":[85],"low-":[87],"computation":[88,101],"capable":[89],"microcontrollers":[90],"preferred":[91],"small,":[93,134],"untethered":[94],"mobile":[95],"The":[97],"Biologically-Inspired":[98],"Legged":[99],"Locomotion-Low":[100],"Emergent":[102],"Gait":[103],"System":[104],"(BILL-LEGS)":[105],"was":[106],"developed":[107],"solution":[110],"these":[114],"issues.":[115],"This":[116,141],"borrows":[118],"heavily":[119],"from":[120],"original":[122],"design":[123],"with":[124],"modifications":[126],"allow":[128],"it":[129],"on":[133],"autonomous":[135],"using":[138],"simple":[139],"microcontrollers.":[140],"paper":[142],"describes":[143],"BILL-LEGS":[145],"its":[148,158,165],"performance":[149],"during":[150],"simulation.":[151],"data":[153],"presented":[155],"show":[157],"robustness":[159],"weight":[162],"selection":[163],"generation":[166],"stable":[168],"gaits,":[169],"independent":[170],"positions":[174],"movement":[177],"speeds.":[178]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
