{"id":"https://openalex.org/W3002709329","doi":"https://doi.org/10.1109/robio49542.2019.8961773","title":"Online Center of Mass Detection for Quadruped Robots in Trot Gait Motion","display_name":"Online Center of Mass Detection for Quadruped Robots in Trot Gait Motion","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002709329","doi":"https://doi.org/10.1109/robio49542.2019.8961773","mag":"3002709329"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5090134604","display_name":"Chao Ding","orcid":"https://orcid.org/0000-0002-4699-6582"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Chao Ding","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087340707","display_name":"Lelai Zhou","orcid":"https://orcid.org/0000-0003-3308-870X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lelai Zhou","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuewen Rong","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["Center for Robotics, School of Control Science and Engineering, Shandong University, China"],"affiliations":[{"raw_affiliation_string":"Center for Robotics, School of Control Science and Engineering, Shandong University, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5090134604"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.56726059,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"2140","last_page":"2145"},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.972100019454956,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9684000015258789,"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/robot","display_name":"Robot","score":0.7309008836746216},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.671912431716919},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.6244106888771057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6179438829421997},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.6006253957748413},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5746316313743591},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.5502937436103821},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.5269442796707153},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5010116100311279},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4726145565509796},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.46365201473236084},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4606689214706421},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.45838209986686707},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4533873498439789},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4448772966861725},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4286542534828186},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3977261781692505},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3161240816116333},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28694096207618713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2693864405155182},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24138671159744263},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.17437127232551575},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12748458981513977},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.12664058804512024}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7309008836746216},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.671912431716919},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.6244106888771057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6179438829421997},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.6006253957748413},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5746316313743591},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5502937436103821},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.5269442796707153},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5010116100311279},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4726145565509796},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.46365201473236084},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4606689214706421},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.45838209986686707},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4533873498439789},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4448772966861725},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4286542534828186},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3977261781692505},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3161240816116333},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28694096207618713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2693864405155182},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24138671159744263},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.17437127232551575},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12748458981513977},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.12664058804512024},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","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},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961773","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961773","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.75}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W2067627295","https://openalex.org/W2081504033","https://openalex.org/W2115749058","https://openalex.org/W2119240337","https://openalex.org/W2149046449","https://openalex.org/W2159924604","https://openalex.org/W2211672088","https://openalex.org/W2470094176","https://openalex.org/W2491934829","https://openalex.org/W2746499955","https://openalex.org/W2772157100","https://openalex.org/W2793113826","https://openalex.org/W2901286613","https://openalex.org/W2921124875"],"related_works":["https://openalex.org/W3017293403","https://openalex.org/W2992118945","https://openalex.org/W2186215878","https://openalex.org/W111418932","https://openalex.org/W4250901180","https://openalex.org/W2157718988","https://openalex.org/W1937147573","https://openalex.org/W2181376541","https://openalex.org/W2323161850","https://openalex.org/W1871414311"],"abstract_inverted_index":{"Most":[0],"of":[1,16,19,33,69,124,134],"the":[2,7,13,17,23,26,30,34,38,47,70,75,82,86,90,101,118,121,125,132,135],"motion":[3],"control":[4,48],"strategies":[5],"for":[6,55,59,81,106],"quadruped":[8,60],"robots":[9,61],"are":[10,93,115],"based":[11],"on":[12],"trajectory":[14],"planning":[15],"center":[18,32],"mass":[20],"(CoM)":[21],"and":[22,109],"hypothesis":[24],"that":[25],"CoM":[27,39,57,126],"locates":[28],"at":[29],"geometrical":[31],"trunk.":[35],"In":[36],"fact,":[37],"position":[40,127],"offsets":[41],"will":[42],"introduce":[43],"obvious":[44],"influence":[45],"to":[46,89],"performance.":[49],"This":[50],"paper":[51],"presents":[52],"a":[53],"method":[54,105],"online":[56],"detection":[58],"running":[62],"in":[63,74],"trot":[64],"gait.":[65],"The":[66],"dynamical":[67],"model":[68],"robot":[71],"is":[72,128],"built":[73],"inertial":[76,91],"coordinate":[77],"system.":[78],"Transforming":[79],"methods":[80],"status":[83],"variables":[84],"from":[85],"base":[87],"frame":[88,92],"also":[94],"provided.":[95],"To":[96],"get":[97],"more":[98],"precise":[99],"results,":[100],"step":[102],"height":[103],"compensation":[104],"swing":[107],"feet":[108],"comparative":[110],"ground":[111],"reaction":[112],"force":[113],"calculations":[114],"presented.":[116],"With":[117],"proposed":[119,136],"method,":[120],"analytical":[122],"solution":[123],"obtained.":[129],"Simulations":[130],"show":[131],"effectiveness":[133],"method.":[137]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
