{"id":"https://openalex.org/W2895199926","doi":"https://doi.org/10.1109/tro.2018.2862903","title":"Clock-Torqued Rolling SLIP Model and Its Application to Variable-Speed Running in a Hexapod Robot","display_name":"Clock-Torqued Rolling SLIP Model and Its Application to Variable-Speed Running in a Hexapod Robot","publication_year":2018,"publication_date":"2018-10-04","ids":{"openalex":"https://openalex.org/W2895199926","doi":"https://doi.org/10.1109/tro.2018.2862903","mag":"2895199926"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2018.2862903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2862903","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","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/A5003765579","display_name":"Wei-Chun Lu","orcid":"https://orcid.org/0000-0002-1429-5634"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wei-Chun Lu","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0002-1429-5634","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069058402","display_name":"Ming-Yuan Yu","orcid":"https://orcid.org/0000-0003-1926-1553"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming-Yuan Yu","raw_affiliation_strings":["National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0003-1926-1553","affiliations":[{"raw_affiliation_string":"National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062487478","display_name":"Pei\u2010Chun Lin","orcid":"https://orcid.org/0000-0001-9146-3817"},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Pei-Chun Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-9146-3817","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":1.4069,"has_fulltext":false,"cited_by_count":29,"citation_normalized_percentile":{"value":0.80351766,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"34","issue":"6","first_page":"1643","last_page":"1650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9879000186920166,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9861000180244446,"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":0.9022448658943176},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7221113443374634},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6904143691062927},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5247626304626465},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5004591941833496},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4687875509262085},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4679386019706726},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4573809802532196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4371016025543213},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4200409948825836},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3687983751296997},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28314393758773804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16936197876930237},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08849456906318665}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9022448658943176},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7221113443374634},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6904143691062927},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5247626304626465},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5004591941833496},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4687875509262085},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4679386019706726},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4573809802532196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4371016025543213},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4200409948825836},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3687983751296997},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28314393758773804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16936197876930237},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08849456906318665},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2018.2862903","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2018.2862903","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6003361079","display_name":null,"funder_award_id":"MOST 107-2634-F-002-004","funder_id":"https://openalex.org/F4320322795","funder_display_name":"Ministry of Science and Technology, Taiwan"}],"funders":[{"id":"https://openalex.org/F4320322795","display_name":"Ministry of Science and Technology, Taiwan","ror":"https://ror.org/02kv4zf79"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1493860925","https://openalex.org/W1501891458","https://openalex.org/W1822001265","https://openalex.org/W1968332295","https://openalex.org/W1980973109","https://openalex.org/W1983815930","https://openalex.org/W1989796457","https://openalex.org/W2012977280","https://openalex.org/W2015201597","https://openalex.org/W2015710178","https://openalex.org/W2019761348","https://openalex.org/W2055500823","https://openalex.org/W2071853141","https://openalex.org/W2129224530","https://openalex.org/W2134799825","https://openalex.org/W2170320699","https://openalex.org/W2293019713","https://openalex.org/W2314189913","https://openalex.org/W2316270076","https://openalex.org/W2509995583","https://openalex.org/W6629477975"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","https://openalex.org/W138543751","https://openalex.org/W2789574804","https://openalex.org/W2114803124","https://openalex.org/W2063353256","https://openalex.org/W123722128","https://openalex.org/W4390269031","https://openalex.org/W4389787393","https://openalex.org/W1596567109"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3],"report":[4],"on":[5,26],"the":[6,9,27,31,41,56,64,68,72,77,84,87,92,106,111,127,150,152],"development":[7],"of":[8,30,59,83,123],"clock-torqued":[10],"rolling":[11],"spring":[12],"loaded":[13],"inverted":[14],"pendulum":[15],"(CTR-SLIP)":[16],"model.":[17],"The":[18,121],"new":[19],"model,":[20,35],"which":[21],"adds":[22],"clock-based":[23],"torque":[24],"control":[25,162],"leg":[28,166],"orientation":[29],"previously":[32],"developed":[33],"R-SLIP":[34],"has":[36,130],"two":[37,117],"advantages:":[38],"first,":[39],"regulating":[40],"model":[42,65,73],"to":[43,67,74,94,103,158,163,177],"follow":[44],"its":[45,165],"passive":[46],"dynamic":[47],"running":[48,81,118,125],"(i.e.,":[49],"at":[50],"a":[51,131],"fixed":[52,100],"point)":[53],"significantly":[54],"increases":[55],"model's":[57],"basin":[58],"attraction;":[60],"and":[61,79,105,137,168],"second,":[62],"formulating":[63],"closer":[66],"empirical":[69],"robot":[70,85,112],"enables":[71],"serve":[75],"as":[76,86],"transient":[78],"steady-state":[80],"template":[82],"anchor.":[88],"These":[89],"features":[90],"enable":[91],"model/robot":[93],"perform":[95],"speed":[96],"transition":[97,115],"from":[98],"one":[99],"point":[101],"profile":[102],"another,":[104],"experimental":[107],"validation":[108],"confirms":[109],"that":[110],"can":[113],"successfully":[114],"between":[116],"speeds":[119],"bidirectionally.":[120],"achievement":[122],"variable-speed":[124],"by":[126],"proposed":[128,153],"method":[129],"unique":[132],"merit-it":[133],"is":[134,139,170],"purely":[135],"model-based,":[136],"there":[138,169],"no":[140,171],"need":[141,172],"for":[142,173,180],"further":[143],"tuning,":[144],"optimization,":[145],"or":[146],"learning":[147],"processes.":[148],"Regarding":[149],"robot,":[151],"strategy":[154],"only":[155],"requires":[156],"it":[157],"have":[159],"simple":[160],"position":[161],"regulate":[164],"orientations,":[167],"other":[174],"sensory":[175],"modules":[176],"provide":[178],"information":[179],"feedback.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
