{"id":"https://openalex.org/W2945612306","doi":"https://doi.org/10.1145/3319921.3319940","title":"The System Design and Gait Planning for Walking-Climbing Hexapod","display_name":"The System Design and Gait Planning for Walking-Climbing Hexapod","publication_year":2019,"publication_date":"2019-03-15","ids":{"openalex":"https://openalex.org/W2945612306","doi":"https://doi.org/10.1145/3319921.3319940","mag":"2945612306"},"language":"en","primary_location":{"id":"doi:10.1145/3319921.3319940","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3319921.3319940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 3rd International Conference on Innovation in Artificial Intelligence","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/A5015297129","display_name":"Wei Wu","orcid":"https://orcid.org/0000-0002-8734-1582"},"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":true,"raw_author_name":"Wu Wei","raw_affiliation_strings":["South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110513854","display_name":"Jinquan Sun","orcid":null},"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":"Jinquan Sun","raw_affiliation_strings":["South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045596138","display_name":"Yong Gao","orcid":"https://orcid.org/0000-0001-5040-1580"},"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":"Yong Gao","raw_affiliation_strings":["South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077520782","display_name":"Yao Yeboah","orcid":"https://orcid.org/0000-0002-1116-0670"},"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":"Yao Yeboah","raw_affiliation_strings":["School of Automation, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009779612","display_name":"Linqing Huang","orcid":"https://orcid.org/0000-0001-9636-499X"},"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":"Linqing Huang","raw_affiliation_strings":["South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology, School of Automation Science and Engineering, Tianhe District, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5015297129"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.3912,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.5816824,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"208","last_page":"212"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.9955299496650696},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6723100543022156},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6469143033027649},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.6019365787506104},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5434567928314209},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5401232838630676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5041400194168091},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4401733875274658},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.413047730922699},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3623669743537903},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15895625948905945},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10655403137207031},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.06415295600891113}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9955299496650696},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6723100543022156},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6469143033027649},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.6019365787506104},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5434567928314209},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5401232838630676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5041400194168091},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4401733875274658},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.413047730922699},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3623669743537903},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15895625948905945},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10655403137207031},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.06415295600891113},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3319921.3319940","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3319921.3319940","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2019 3rd International Conference on Innovation in Artificial Intelligence","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.6200000047683716,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1604271954","https://openalex.org/W2047161671","https://openalex.org/W2050080462","https://openalex.org/W2079313423","https://openalex.org/W2091666453","https://openalex.org/W2111451187","https://openalex.org/W2114351839","https://openalex.org/W2123307965","https://openalex.org/W2128270866","https://openalex.org/W2129964361","https://openalex.org/W2130998340","https://openalex.org/W2131312853"],"related_works":["https://openalex.org/W2969223576","https://openalex.org/W2133973503","https://openalex.org/W2471060339","https://openalex.org/W2111603423","https://openalex.org/W2148547327","https://openalex.org/W2125892956","https://openalex.org/W4226236273","https://openalex.org/W2790560349","https://openalex.org/W2130975749","https://openalex.org/W2493973380"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3],"service":[4],"hexapod":[5,35],"robot":[6,36,95],"named":[7],"WeLCH":[8],"is":[9,44,64],"designed":[10,45],"and":[11,28,39,46,59,66,77,89],"implemented":[12,47],"for":[13],"the":[14,22,25,33,40,49,70,73,78,93],"inspection":[15],"of":[16,32,57,72,80],"glass":[17],"screen":[18],"walls.":[19],"To":[20],"meet":[21],"deployment":[23],"requirements,":[24],"structure":[26],"design":[27,76],"hardware":[29],"system":[30,43,75],"construction":[31],"walking-climbing":[34],"are":[37,83],"analyzed,":[38],"accompanying":[41],"software":[42],"using":[48,92],"Robot":[50],"Operating":[51],"System":[52],"(ROS).":[53],"The":[54],"gait":[55,81],"planning":[56,82],"walking":[58],"climbing":[60],"over":[61],"vertical":[62],"walls":[63],"studied":[65],"put":[67],"forward.":[68],"Finally,":[69],"reliability":[71],"proposed":[74],"validity":[79],"verified":[84],"through":[85],"simulation":[86],"on":[87],"ROS":[88],"field":[90],"testing":[91],"live":[94],"platform.":[96]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
