{"id":"https://openalex.org/W4404102575","doi":"https://doi.org/10.1109/tro.2024.3492374","title":"Stability Criterion and Stability Enhancement for a Thruster-Assisted Underwater Hexapod Robot","display_name":"Stability Criterion and Stability Enhancement for a Thruster-Assisted Underwater Hexapod Robot","publication_year":2024,"publication_date":"2024-11-06","ids":{"openalex":"https://openalex.org/W4404102575","doi":"https://doi.org/10.1109/tro.2024.3492374"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2024.3492374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3492374","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/A5032804742","display_name":"Lepeng Chen","orcid":null},"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":true,"raw_author_name":"Lepeng Chen","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"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/A5003531526","display_name":"Rongxin Cui","orcid":"https://orcid.org/0000-0002-8006-3620"},"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":"Rongxin Cui","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"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/A5055684040","display_name":"Weisheng Yan","orcid":"https://orcid.org/0000-0002-6789-4411"},"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":"Weisheng Yan","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"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/A5019906827","display_name":"Chenguang Yang","orcid":"https://orcid.org/0000-0001-5255-5559"},"institutions":[{"id":"https://openalex.org/I146655781","display_name":"University of Liverpool","ror":"https://ror.org/04xs57h96","country_code":"GB","type":"education","lineage":["https://openalex.org/I146655781"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chenguang Yang","raw_affiliation_strings":["Department of Computer Science, University of Liverpool, Liverpool, U.K"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Liverpool, Liverpool, U.K","institution_ids":["https://openalex.org/I146655781"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100450024","display_name":"Zhijun Li","orcid":"https://orcid.org/0000-0002-3909-488X"},"institutions":[{"id":"https://openalex.org/I4210146112","display_name":"Shanghai Sunshine Rehabilitation Center","ror":"https://ror.org/03gqsr633","country_code":"CN","type":"healthcare","lineage":["https://openalex.org/I4210146112"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Li","raw_affiliation_strings":["School of Mechanical Engineering, and Translational Research Center, Shanghai Yang Zhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","School of Mechanical Engineering, and Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, and Translational Research Center, Shanghai Yang Zhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]},{"raw_affiliation_string":"School of Mechanical Engineering, and Translational Research Center, Shanghai YangZhi Rehabilitation Hospital (Shanghai Sunshine Rehabilitation Center), Tongji University, Shanghai, China","institution_ids":["https://openalex.org/I4210146112"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100305631","display_name":"Xu Hui","orcid":null},"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":"Hui Xu","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"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/A5100648593","display_name":"Haitao Yu","orcid":"https://orcid.org/0009-0000-8603-150X"},"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":"Haitao Yu","raw_affiliation_strings":["School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China"],"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":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5032804742"],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":3.0252,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.91005837,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"41","issue":null,"first_page":"42","last_page":"61"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9970999956130981,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9944000244140625,"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/hexapod","display_name":"Hexapod","score":0.9848939180374146},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6957197189331055},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5990875363349915},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.5425387620925903},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5340142846107483},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5088989734649658},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.49014124274253845},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3808198869228363},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3774895668029785},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3296346664428711},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29393821954727173},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12779465317726135}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9848939180374146},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6957197189331055},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5990875363349915},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.5425387620925903},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5340142846107483},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5088989734649658},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.49014124274253845},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3808198869228363},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3774895668029785},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3296346664428711},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29393821954727173},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12779465317726135},{"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2024.3492374","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2024.3492374","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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/G5017095968","display_name":null,"funder_award_id":"62103182","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5192382428","display_name":null,"funder_award_id":"61733014","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5485100729","display_name":null,"funder_award_id":"U21B2047","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7763483278","display_name":null,"funder_award_id":"U22A2066","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":39,"referenced_works":["https://openalex.org/W1787749442","https://openalex.org/W1971787329","https://openalex.org/W2021512411","https://openalex.org/W2037729465","https://openalex.org/W2089876099","https://openalex.org/W2104479525","https://openalex.org/W2121051014","https://openalex.org/W2128131727","https://openalex.org/W2137547873","https://openalex.org/W2165739402","https://openalex.org/W2292710049","https://openalex.org/W2420271973","https://openalex.org/W2563096832","https://openalex.org/W2564178275","https://openalex.org/W2591610965","https://openalex.org/W2602211129","https://openalex.org/W2618245409","https://openalex.org/W2788030459","https://openalex.org/W2895199926","https://openalex.org/W2913792742","https://openalex.org/W3089564096","https://openalex.org/W3113616534","https://openalex.org/W3183869404","https://openalex.org/W3203378087","https://openalex.org/W4200377613","https://openalex.org/W4206059249","https://openalex.org/W4285120638","https://openalex.org/W4285128122","https://openalex.org/W4285159093","https://openalex.org/W4308083908","https://openalex.org/W4312127202","https://openalex.org/W4322762907","https://openalex.org/W4385413626","https://openalex.org/W4385413770","https://openalex.org/W4390097810","https://openalex.org/W4393184586","https://openalex.org/W4399571981","https://openalex.org/W4401414901","https://openalex.org/W6629477975"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W613729187","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/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"The":[0,113],"stability":[1,39,61,99,111,150,155],"criterion":[2,62,114],"is":[3,109,158],"critical":[4],"for":[5,33,63],"the":[6,81,97,103,116,129,133,149,154,168,188],"design":[7],"of":[8,105,128,138,144],"legged":[9,22,55],"robots'":[10,23],"motion":[11],"planning":[12],"and":[13,49,72,77,132,135,185],"control":[14],"algorithms.":[15],"If":[16],"these":[17],"algorithms":[18],"cannot":[19,50],"theoretically":[20],"ensure":[21],"stability,":[24],"we":[25,58,91],"need":[26],"many":[27],"trials":[28],"to":[29,43,53,84,95,119,147,160,166],"identify":[30],"suitable":[31],"parameters":[32],"stable":[34],"locomotion.":[35],"However,":[36],"most":[37],"existing":[38],"criteria":[40],"are":[41],"tailored":[42],"robots":[44],"driven":[45],"solely":[46],"by":[47,69,101],"legs":[48],"be":[51],"applied":[52],"thruster-assisted":[54,65],"robots.":[56],"Here,":[57],"propose":[59,92],"a":[60,64,93],"underwater":[66],"hexapod":[67],"robot":[68,130],"finding":[70],"maximum":[71],"minimum":[73],"allowable":[74],"thruster":[75],"forces":[76,176],"comparing":[78],"them":[79],"with":[80],"current":[82],"thrusts":[83],"check":[85],"its":[86],"stability.":[87,190],"On":[88],"this":[89],"basis,":[90],"method":[94,118,157],"increase":[96],"robot's":[98,189],"margin":[100],"adjusting":[102],"value":[104],"thrusts.":[106,169],"This":[107],"process":[108],"called":[110],"enhancement.":[112],"uses":[115],"optimization":[117],"transform":[120],"multiple":[121],"variables":[122],"such":[123,177],"as":[124,178],"attitude,":[125],"velocity,":[126],"acceleration":[127],"body,":[131],"angle":[134],"angular":[136],"velocity":[137],"leg":[139],"joints":[140],"into":[141,173],"one":[142],"kind":[143],"variable":[145],"(thrust)":[146],"judge":[148],"directly.":[151],"In":[152],"addition,":[153],"enhancement":[156],"straightforward":[159],"implement":[161],"because":[162],"it":[163],"only":[164],"needs":[165],"adjust":[167],"These":[170],"provide":[171],"insights":[172],"how":[174],"multiclass":[175],"inertia":[179],"force,":[180,182],"fluid":[181],"thrust,":[183],"gravity,":[184],"buoyancy":[186],"affect":[187]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":8}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}