{"id":"https://openalex.org/W1997462935","doi":"https://doi.org/10.1142/s0219843614500145","title":"Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control","display_name":"Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control","publication_year":2014,"publication_date":"2014-04-23","ids":{"openalex":"https://openalex.org/W1997462935","doi":"https://doi.org/10.1142/s0219843614500145","mag":"1997462935"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843614500145","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843614500145","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5101588754","display_name":"Xuefeng Zhou","orcid":"https://orcid.org/0000-0003-1642-2059"},"institutions":[{"id":"https://openalex.org/I4210142539","display_name":"Guangdong Institute of Intelligent Manufacturing","ror":"https://ror.org/049jpjz09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210142539"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuefeng Zhou","raw_affiliation_strings":["Robotics and Automation Team, Guangdong Institute of Automation, Guangzhou, Guangdong, 510070, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Automation Team, Guangdong Institute of Automation, Guangzhou, Guangdong, 510070, P. R. China","institution_ids":["https://openalex.org/I4210142539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013471002","display_name":"Yisheng Guan","orcid":"https://orcid.org/0000-0002-7011-0331"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yisheng Guan","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047105106","display_name":"Haifei Zhu","orcid":"https://orcid.org/0000-0002-2463-4564"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haifei Zhu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056556018","display_name":"Wenqiang Wu","orcid":"https://orcid.org/0000-0002-8512-3231"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenqiang Wu","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363117","display_name":"Xin Chen","orcid":"https://orcid.org/0000-0003-1990-2058"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Chen","raw_affiliation_strings":["Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077402482","display_name":"Hong Zhang","orcid":"https://orcid.org/0000-0002-6633-9264"},"institutions":[{"id":"https://openalex.org/I154425047","display_name":"University of Alberta","ror":"https://ror.org/0160cpw27","country_code":"CA","type":"education","lineage":["https://openalex.org/I154425047"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Hong Zhang","raw_affiliation_strings":["Department of Computing Science, University of Alberta, Edmonton, AB, T6G 2E8, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computing Science, University of Alberta, Edmonton, AB, T6G 2E8, Canada","institution_ids":["https://openalex.org/I154425047"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073147310","display_name":"Yuli Fu","orcid":"https://orcid.org/0000-0002-6548-446X"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuli Fu","raw_affiliation_strings":["School of Electronic and Information Engineering, South China University of Technology, Guangzhou, Guangdong, 510640, P. R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou, Guangdong, 510640, P. R. China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5101588754"],"corresponding_institution_ids":["https://openalex.org/I4210142539"],"apc_list":null,"apc_paid":null,"fwci":0.3846,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.62993974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"11","issue":"02","first_page":"1450014","last_page":"1450014"},"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":0.9936000108718872,"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":0.9925000071525574,"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/computer-science","display_name":"Computer science","score":0.7271633744239807},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7097762823104858},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6014484167098999},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.583076536655426},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.5579320788383484},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5173239707946777},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.4918248653411865},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42802348732948303},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42041972279548645},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2904326319694519},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19089600443840027}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7271633744239807},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7097762823104858},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6014484167098999},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.583076536655426},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.5579320788383484},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5173239707946777},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.4918248653411865},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42802348732948303},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42041972279548645},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2904326319694519},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19089600443840027},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843614500145","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843614500145","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1560270123","https://openalex.org/W1996555579","https://openalex.org/W1996763811","https://openalex.org/W2022648173","https://openalex.org/W2026619598","https://openalex.org/W2029058516","https://openalex.org/W2037729465","https://openalex.org/W2051287096","https://openalex.org/W2074686910","https://openalex.org/W2097235959","https://openalex.org/W2102906689","https://openalex.org/W2111332095","https://openalex.org/W2117899662","https://openalex.org/W2122677186","https://openalex.org/W2125193285","https://openalex.org/W2127763473","https://openalex.org/W2130036159","https://openalex.org/W2138671676","https://openalex.org/W2151648288","https://openalex.org/W2161439626","https://openalex.org/W2163665518","https://openalex.org/W2163668399","https://openalex.org/W2540393540"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W3121791438","https://openalex.org/W2158348710"],"abstract_inverted_index":{"Most":[0],"of":[1,24,26,102,122,148,157],"current":[2],"biped":[3,71,104,111,160,167],"robots":[4,47],"are":[5,59,118,135,138],"active":[6,70,168],"walking":[7,46,55,72,116,124,130,169],"platforms.":[8],"Though":[9],"they":[10,20],"have":[11,21,66],"strong":[12],"locomotion":[13,95,144],"ability":[14],"and":[15,29,35,51,57,87,127,129,132,152,178],"good":[16],"adaptability":[17],"to":[18,141,153],"environments,":[19],"a":[22,68,175],"lot":[23],"degrees":[25],"freedom":[27],"(DoFs)":[28],"hence":[30],"result":[31],"in":[32,96],"complex":[33],"control":[34],"high":[36],"energy":[37],"consumption.":[38],"On":[39],"the":[40,91,120,143,146,149,155],"other":[41],"hand,":[42],"passive":[43],"or":[44],"semi-passive":[45],"require":[48],"less":[49],"DoFs":[50,177],"energy,":[52],"but":[53],"their":[54],"capability":[56],"robustness":[58],"poor.":[60],"To":[61],"overcome":[62],"these":[63],"shortcomings,":[64],"we":[65],"developed":[67],"novel":[69,110,159],"robot":[73,79,112],"with":[74,82,173],"only":[75,174],"six":[76,83],"DoFs.":[77],"The":[78],"is":[80,113,125],"built":[81],"1-DoF":[84],"joint":[85],"modules":[86],"two":[88],"wheels":[89],"as":[90],"feet.":[92],"It":[93,162],"achieves":[94],"special":[97],"gaits":[98,117,151],"different":[99],"from":[100],"those":[101],"traditional":[103],"robots.":[105],"In":[106],"this":[107,109,158],"paper,":[108],"introduced,":[114],"four":[115],"proposed,":[119],"criterion":[121],"stable":[123],"addressed":[126],"analyzed,":[128],"patterns":[131],"motion":[133],"planning":[134],"presented.":[136],"Experiments":[137],"carried":[139],"out":[140],"verify":[142],"function,":[145],"effectiveness":[147],"presented":[150],"illustrate":[154],"features":[156],"robot.":[161],"has":[163],"been":[164],"shown":[165],"that":[166],"may":[170],"be":[171],"achieved":[172],"few":[176],"simple":[179],"kinematic":[180],"configuration.":[181]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
