{"id":"https://openalex.org/W2793089830","doi":"https://doi.org/10.1109/rcar.2017.8311883","title":"Locomotion control for the planar articulated leg robot based on the positon decoupling algorithm","display_name":"Locomotion control for the planar articulated leg robot based on the positon decoupling algorithm","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2793089830","doi":"https://doi.org/10.1109/rcar.2017.8311883","mag":"2793089830"},"language":"en","primary_location":{"id":"doi:10.1109/rcar.2017.8311883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2017.8311883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5048227814","display_name":"Zhenfei Si","orcid":null},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenfei Si","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034725449","display_name":"Honglei An","orcid":"https://orcid.org/0000-0002-2865-7034"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Honglei An","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100370399","display_name":"Jian Wang","orcid":"https://orcid.org/0000-0002-0888-7537"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Wang","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032514693","display_name":"Qing Wei","orcid":"https://orcid.org/0000-0003-0141-9682"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qing Wei","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5032729336","display_name":"Hongxu Ma","orcid":"https://orcid.org/0000-0002-4662-2986"},"institutions":[{"id":"https://openalex.org/I170215575","display_name":"National University of Defense Technology","ror":"https://ror.org/05d2yfz11","country_code":"CN","type":"education","lineage":["https://openalex.org/I170215575"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongxu Ma","raw_affiliation_strings":["National University of Defense Technology, Changsha, China"],"affiliations":[{"raw_affiliation_string":"National University of Defense Technology, Changsha, China","institution_ids":["https://openalex.org/I170215575"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5048227814"],"corresponding_institution_ids":["https://openalex.org/I170215575"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20712781,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"333","last_page":"338"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9966999888420105,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7697473764419556},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.7003324627876282},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.6982669830322266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6181710362434387},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.59493488073349},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5744428038597107},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5402476787567139},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5040337443351746},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44514721632003784},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3526903986930847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.32024866342544556},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3000485301017761},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29153740406036377},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.22199636697769165},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17514562606811523},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14561116695404053}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7697473764419556},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.7003324627876282},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.6982669830322266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6181710362434387},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.59493488073349},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5744428038597107},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5402476787567139},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5040337443351746},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44514721632003784},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3526903986930847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.32024866342544556},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3000485301017761},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29153740406036377},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.22199636697769165},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17514562606811523},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14561116695404053},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar.2017.8311883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar.2017.8311883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1984986877","https://openalex.org/W2016261017","https://openalex.org/W2060499459","https://openalex.org/W2079224419","https://openalex.org/W2085287976","https://openalex.org/W2098436509","https://openalex.org/W2113466947","https://openalex.org/W2161427949","https://openalex.org/W2337991911"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2329266651","https://openalex.org/W3103825105","https://openalex.org/W2979398413","https://openalex.org/W2402852349","https://openalex.org/W1532677580","https://openalex.org/W2386719143"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,46,54],"position":[4,153],"control":[5,15,154],"algorithm":[6],"based":[7],"on":[8,109],"the":[9,17,39,42,51,58,61,74,79,94,99,104,115,123,126,130,137,140,144,151,158,161,167,175],"kinematics":[10,62],"model":[11,142],"to":[12,72,91,93,135,157],"perform":[13],"motion":[14,112,128,159],"in":[16,70,78,106],"planar":[18,24,59,141,162],"articulated":[19,28,163],"leg":[20,164],"robot.":[21],"The":[22,147],"simplified":[23],"robot":[25,165],"has":[26,33],"two":[27,34],"legs,":[29],"each":[30,110],"of":[31,36,57,98,125,139,160],"which":[32,96],"degrees":[35],"freedom":[37],"(DoF),":[38],"knee":[40],"and":[41,45,66,81,114,129,143,166],"hip":[43],"joints,":[44],"rotating":[47],"joint":[48],"without":[49],"actuation,":[50],"foot.":[52],"After":[53],"brief":[55],"description":[56],"model,":[60],"analysis":[63],"is":[64,155],"performed":[65],"developed.":[67],"And":[68],"then,":[69],"order":[71],"achieve":[73],"stable":[75,127],"motion,":[76],"controllers":[77],"stance":[80],"swing":[82],"phase":[83],"are":[84,89,133],"designed.":[85],"Meanwhile,":[86],"some":[87],"strategies":[88],"described":[90],"contribute":[92],"locomotion,":[95],"consists":[97],"forward":[100,169],"velocity":[101,132,170],"estimation,":[102],"placing":[103],"feet":[105],"key":[107],"locations":[108],"step,":[111],"planning":[113],"friction":[116],"cone":[117],"constraints.":[118],"Last":[119],"but":[120],"not":[121],"least,":[122],"simulations":[124],"maximum":[131,168],"carried":[134],"verify":[136],"feasibility":[138],"designed":[145],"controllers.":[146],"results":[148],"indicate":[149],"that":[150],"proposed":[152],"effective":[156],"can":[171],"reach":[172],"0.5m/s":[173],"under":[174],"existing":[176],"conditions.":[177]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
