{"id":"https://openalex.org/W4415934082","doi":"https://doi.org/10.1109/tie.2025.3618921","title":"Learning-Based Fault Identification and Fault-Tolerant Control for Quadruped Robots With Small Samples","display_name":"Learning-Based Fault Identification and Fault-Tolerant Control for Quadruped Robots With Small Samples","publication_year":2025,"publication_date":"2025-11-05","ids":{"openalex":"https://openalex.org/W4415934082","doi":"https://doi.org/10.1109/tie.2025.3618921"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2025.3618921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3618921","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5111271985","display_name":"Zhaoxu Wang","orcid":"https://orcid.org/0009-0007-0686-1628"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoxu Wang","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0007-0686-1628","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100605691","display_name":"Huiping Li","orcid":"https://orcid.org/0000-0003-4620-8993"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiping Li","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0000-0003-4620-8993","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057154837","display_name":"Yongzhe Du","orcid":"https://orcid.org/0009-0009-0501-9302"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yongzhe Du","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0009-0501-9302","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100309378","display_name":"Zhuoying Chen","orcid":"https://orcid.org/0009-0003-2513-0434"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhuoying Chen","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China"],"raw_orcid":"https://orcid.org/0009-0003-2513-0434","affiliations":[{"raw_affiliation_string":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":0.4223,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.64956342,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"73","issue":"3","first_page":"4930","last_page":"4940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.6714000105857849,"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":0.6714000105857849,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.04989999905228615,"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"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.04619999974966049,"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/robot","display_name":"Robot","score":0.7408000230789185},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.7116000056266785},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6926000118255615},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.6669999957084656},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5817999839782715},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.5343999862670898},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.49410000443458557},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.41370001435279846}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7408000230789185},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.7116000056266785},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6926000118255615},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.6669999957084656},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5817999839782715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5794000029563904},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.5343999862670898},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.49410000443458557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47450000047683716},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.41370001435279846},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3668999969959259},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3490000069141388},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3427000045776367},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.325300008058548},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32339999079704285},{"id":"https://openalex.org/C21267803","wikidata":"https://www.wikidata.org/wiki/Q5438159","display_name":"Fault indicator","level":4,"score":0.31209999322891235},{"id":"https://openalex.org/C109747225","wikidata":"https://www.wikidata.org/wiki/Q815758","display_name":"Scarcity","level":2,"score":0.29600000381469727},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27950000762939453},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2793999910354614},{"id":"https://openalex.org/C126953365","wikidata":"https://www.wikidata.org/wiki/Q5438152","display_name":"Fault coverage","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.26820001006126404},{"id":"https://openalex.org/C13625343","wikidata":"https://www.wikidata.org/wiki/Q7627418","display_name":"Stuck-at fault","level":4,"score":0.26570001244544983},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.263700008392334},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2513999938964844}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3618921","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3618921","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5361805742","display_name":null,"funder_award_id":"62273281","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G680344404","display_name":null,"funder_award_id":"U22B2039","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7347353647","display_name":null,"funder_award_id":"61922068","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Quadruped":[0],"robots":[1],"may":[2],"experience":[3],"faults":[4],"during":[5],"task":[6],"execution,":[7],"and":[8,22,33,42,52,68,84],"the":[9,28,58,73,76],"scarcity":[10],"of":[11,30,75],"sufficient":[12],"real":[13,86],"fault":[14,20,31,40,65],"data":[15,50],"poses":[16],"significant":[17],"challenges":[18],"for":[19],"diagnosis":[21],"fault-tolerant":[23],"control":[24],"(FTC).":[25],"Building":[26],"on":[27],"foundations":[29],"detection":[32],"classification,":[34],"this":[35],"article":[36],"proposes":[37],"a":[38,85],"data-driven":[39],"identification":[41,66],"FTC":[43],"framework":[44],"with":[45],"small-sample":[46],"conditions.":[47],"The":[48],"proposed":[49,77],"generation":[51],"feature":[53],"enhancement":[54],"methods":[55],"fully":[56],"exploit":[57],"information":[59],"within":[60],"limited":[61],"datasets,":[62],"thereby":[63],"enhancing":[64],"accuracy":[67],"enabling":[69],"effective":[70],"FTC.":[71],"Finally,":[72],"effectiveness":[74],"approach":[78],"is":[79],"validated":[80],"through":[81],"both":[82],"simulation":[83],"quadruped":[87],"robot":[88],"platform.":[89]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-01T06:05:34.837733","created_date":"2025-11-05T00:00:00"}