{"id":"https://openalex.org/W2771217254","doi":"https://doi.org/10.1109/ssd.2017.8166964","title":"Planning tripod gait of an hexapod robot","display_name":"Planning tripod gait of an hexapod robot","publication_year":2017,"publication_date":"2017-03-01","ids":{"openalex":"https://openalex.org/W2771217254","doi":"https://doi.org/10.1109/ssd.2017.8166964","mag":"2771217254"},"language":"en","primary_location":{"id":"doi:10.1109/ssd.2017.8166964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2017.8166964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Multi-Conference on Systems, Signals & Devices (SSD)","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/A5082849110","display_name":"El Hansali Hasnaa","orcid":null},"institutions":[{"id":"https://openalex.org/I126477371","display_name":"Mohammed V University","ror":"https://ror.org/00r8w8f84","country_code":"MA","type":"education","lineage":["https://openalex.org/I126477371"]}],"countries":["MA"],"is_corresponding":true,"raw_author_name":"El Hansali Hasnaa","raw_affiliation_strings":["Laboratory of Mechanics and Industrial processes and process LM2PI, ENSIAS, Mohammed V University in Rabat, Rabat, Morocco"],"affiliations":[{"raw_affiliation_string":"Laboratory of Mechanics and Industrial processes and process LM2PI, ENSIAS, Mohammed V University in Rabat, Rabat, Morocco","institution_ids":["https://openalex.org/I126477371"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030237768","display_name":"Bennani Mohammed","orcid":null},"institutions":[{"id":"https://openalex.org/I126477371","display_name":"Mohammed V University","ror":"https://ror.org/00r8w8f84","country_code":"MA","type":"education","lineage":["https://openalex.org/I126477371"]}],"countries":["MA"],"is_corresponding":false,"raw_author_name":"Bennani Mohammed","raw_affiliation_strings":["Laboratoty of Mechanics and Industrial processes and process LM2PI, Mohammed V University in Rabat, Rabat, Morocco"],"affiliations":[{"raw_affiliation_string":"Laboratoty of Mechanics and Industrial processes and process LM2PI, Mohammed V University in Rabat, Rabat, Morocco","institution_ids":["https://openalex.org/I126477371"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5082849110"],"corresponding_institution_ids":["https://openalex.org/I126477371"],"apc_list":null,"apc_paid":null,"fwci":0.5098,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.64743326,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"163","last_page":"168"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.989799976348877,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9797999858856201,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9951740503311157},{"id":"https://openalex.org/keywords/tripod","display_name":"Tripod (photography)","score":0.880183756351471},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7409095168113708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5947588086128235},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.529358446598053},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5060181021690369},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4858679175376892},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45572108030319214},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.43592381477355957},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39459502696990967},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2711833119392395},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22960305213928223},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19025138020515442},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.13117268681526184},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07996228337287903},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.062238454818725586}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9951740503311157},{"id":"https://openalex.org/C130614165","wikidata":"https://www.wikidata.org/wiki/Q683906","display_name":"Tripod (photography)","level":2,"score":0.880183756351471},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7409095168113708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5947588086128235},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.529358446598053},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5060181021690369},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4858679175376892},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45572108030319214},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.43592381477355957},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39459502696990967},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2711833119392395},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22960305213928223},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19025138020515442},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.13117268681526184},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07996228337287903},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.062238454818725586},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssd.2017.8166964","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd.2017.8166964","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 14th International Multi-Conference on Systems, Signals & Devices (SSD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5899999737739563,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1995677619","https://openalex.org/W2020920536","https://openalex.org/W2121365468","https://openalex.org/W2140821540","https://openalex.org/W2143153649","https://openalex.org/W2187641660","https://openalex.org/W2266080242","https://openalex.org/W2613587296","https://openalex.org/W6686814250"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W3162692031","https://openalex.org/W2592391887","https://openalex.org/W2353757960","https://openalex.org/W2371036675","https://openalex.org/W1995677619","https://openalex.org/W2969223576","https://openalex.org/W3127101433","https://openalex.org/W2140821540","https://openalex.org/W2905631446"],"abstract_inverted_index":{"Hexapod":[0],"legged":[1,26],"robot's":[2],"missions,":[3],"particularly":[4],"in":[5,69,89,104,127],"irregular":[6],"and":[7,13,72,87,95,115],"dangerous":[8],"areas,":[9],"require":[10],"high":[11,14],"stability":[12],"precision.":[15],"In":[16],"this":[17,49],"paper,":[18],"we":[19],"consider":[20],"the":[21,58,61,66,70,73,85,99,112,119,124],"rectangular":[22],"architecture":[23],"body":[24,86],"of":[25,41,48,60,98],"robots":[27],"with":[28],"six":[29],"legs":[30,88],"distributed":[31],"symmetrically":[32],"along":[33],"two":[34],"sides,":[35],"each":[36],"leg":[37],"contains":[38],"three":[39],"degrees":[40],"freedom":[42],"for":[43],"greater":[44],"mobility.":[45],"The":[46],"aim":[47],"work":[50],"is":[51,108],"planning":[52],"tripod":[53,120],"gait":[54,121],"trajectory,":[55],"based":[56],"on":[57],"computing":[59],"kinematic":[62,113],"model":[63,114],"to":[64,84,91,110,118],"determine":[65],"joint":[67],"variables":[68],"lifting":[71],"propelling":[74],"phases.":[75],"For":[76],"this,":[77],"an":[78],"appropriate":[79],"coordinate":[80],"frames":[81],"are":[82],"attached":[83],"order":[90],"obtain":[92],"clear":[93],"representation":[94],"efficient":[96],"generation":[97],"system":[100],"equations.":[101],"A":[102],"simulation":[103],"Matlab":[105],"software":[106],"platform":[107],"developed":[109],"confirm":[111],"various":[116],"trajectories":[117],"adopted":[122],"by":[123],"hexapod":[125],"robot":[126],"its":[128],"locomotion.":[129]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}