{"id":"https://openalex.org/W4220966960","doi":"https://doi.org/10.1155/2022/4510678","title":"Suppression of Quadruped Robot Body Disturbance by Virtual Spring\u2010Damping Model","display_name":"Suppression of Quadruped Robot Body Disturbance by Virtual Spring\u2010Damping Model","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4220966960","doi":"https://doi.org/10.1155/2022/4510678"},"language":"en","primary_location":{"id":"doi:10.1155/2022/4510678","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4510678","pdf_url":"https://downloads.hindawi.com/journals/complexity/2022/4510678.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://downloads.hindawi.com/journals/complexity/2022/4510678.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5035788608","display_name":"JingYe He","orcid":"https://orcid.org/0000-0001-6959-2452"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"JingYe He","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","Harbin University of Science and Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103109699","display_name":"Junpeng Shao","orcid":"https://orcid.org/0000-0001-7263-2478"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"JunPeng Shao","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","Harbin University of Science and Technology, Harbin 150080, China"],"raw_orcid":"https://orcid.org/0000-0001-7263-2478","affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077185576","display_name":"Bingwei Gao","orcid":"https://orcid.org/0000-0003-4888-3730"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"BingWei Gao","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","Harbin University of Science and Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085400618","display_name":"BingYi Miao","orcid":"https://orcid.org/0000-0002-7796-687X"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"BingYi Miao","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","Harbin University of Science and Technology, Harbin 150080, China"],"raw_orcid":"https://orcid.org/0000-0002-7796-687X","affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102957889","display_name":"Xuan Shao","orcid":"https://orcid.org/0000-0003-1756-8594"},"institutions":[{"id":"https://openalex.org/I100188998","display_name":"Harbin University of Science and Technology","ror":"https://ror.org/04e6y1282","country_code":"CN","type":"education","lineage":["https://openalex.org/I100188998"]},{"id":"https://openalex.org/I1308199089","display_name":"Harbin University","ror":"https://ror.org/00ey9xa07","country_code":"CN","type":"education","lineage":["https://openalex.org/I1308199089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuan Shao","raw_affiliation_strings":["Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","Harbin University of Science and Technology, Harbin 150080, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China hrbust.edu.cn","institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"]},{"raw_affiliation_string":"Harbin University of Science and Technology, Harbin 150080, China","institution_ids":["https://openalex.org/I100188998"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5103109699"],"corresponding_institution_ids":["https://openalex.org/I100188998","https://openalex.org/I1308199089"],"apc_list":{"value":2760,"currency":"USD","value_usd":2760},"apc_paid":{"value":2760,"currency":"USD","value_usd":2760},"fwci":0.2164,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.39174745,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"2022","issue":"1","first_page":null,"last_page":null},"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9717000126838684,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9634000062942505,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.689176082611084},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6621979475021362},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6450696587562561},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.644562304019928},{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.5882457494735718},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.562734842300415},{"id":"https://openalex.org/keywords/displacement","display_name":"Displacement (psychology)","score":0.5247911810874939},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5186021327972412},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44454145431518555},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.42362356185913086},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2684474587440491},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.20655858516693115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1605299413204193},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14690405130386353},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.11183297634124756},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08501824736595154}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.689176082611084},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6621979475021362},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6450696587562561},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.644562304019928},{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.5882457494735718},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.562734842300415},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.5247911810874939},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5186021327972412},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44454145431518555},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.42362356185913086},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2684474587440491},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20655858516693115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1605299413204193},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14690405130386353},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.11183297634124756},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08501824736595154},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"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/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1155/2022/4510678","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4510678","pdf_url":"https://downloads.hindawi.com/journals/complexity/2022/4510678.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},{"id":"pmh:oai:RePEc:hin:complx:4510678","is_oa":false,"landing_page_url":"http://downloads.hindawi.com/journals/complexity/2022/4510678.xml","pdf_url":null,"source":{"id":"https://openalex.org/S4306401271","display_name":"RePEc: Research Papers in Economics","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I77793887","host_organization_name":"Federal Reserve Bank of St. Louis","host_organization_lineage":["https://openalex.org/I77793887"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},{"id":"pmh:oai:doaj.org/article:16358adb87a54014b9b9ceee788b08eb","is_oa":true,"landing_page_url":"https://doaj.org/article/16358adb87a54014b9b9ceee788b08eb","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Complexity, Vol 2022 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1155/2022/4510678","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2022/4510678","pdf_url":"https://downloads.hindawi.com/journals/complexity/2022/4510678.pdf","source":{"id":"https://openalex.org/S207319443","display_name":"Complexity","issn_l":"1076-2787","issn":["1076-2787","1099-0526"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869","https://openalex.org/P4310320595"],"host_organization_lineage_names":["Hindawi Publishing Corporation","Wiley"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Complexity","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4220966960.pdf","grobid_xml":"https://content.openalex.org/works/W4220966960.grobid-xml"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W134451811","https://openalex.org/W1571545096","https://openalex.org/W1924347223","https://openalex.org/W1973546417","https://openalex.org/W1975230295","https://openalex.org/W1985875375","https://openalex.org/W2015174938","https://openalex.org/W2023398310","https://openalex.org/W2039475797","https://openalex.org/W2041886889","https://openalex.org/W2063805130","https://openalex.org/W2141042553","https://openalex.org/W2159924604","https://openalex.org/W2216939739","https://openalex.org/W2246023205","https://openalex.org/W2321254917","https://openalex.org/W2325640618","https://openalex.org/W2331758694","https://openalex.org/W2353623354","https://openalex.org/W2464873593","https://openalex.org/W2465699980","https://openalex.org/W2470094176","https://openalex.org/W2599395679","https://openalex.org/W2600092780","https://openalex.org/W2761572885","https://openalex.org/W2810309310","https://openalex.org/W2906962111","https://openalex.org/W2942669704","https://openalex.org/W2991062531","https://openalex.org/W3028028706","https://openalex.org/W3046834314","https://openalex.org/W3151224814","https://openalex.org/W3205625110","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177","https://openalex.org/W3156121563","https://openalex.org/W2808213426","https://openalex.org/W2355389557"],"abstract_inverted_index":{"The":[0,70],"quadruped":[1,25],"robot":[2,93],"is":[3,40,55,78,94,132,157],"subject":[4],"to":[5,19,80],"self":[6],"and":[7,36,83,112,153],"external":[8],"interference":[9],"during":[10],"the":[11,21,24,33,37,43,48,50,53,58,68,75,81,86,92,98,102,106,110,118,122,128,135,147,151,154,161],"running":[12],"process.":[13],"In":[14],"this":[15,139],"paper,":[16],"in":[17,138],"order":[18],"improve":[20],"stability":[22,149],"of":[23,47,52,85,89,101,121,150],"robot,":[26,103],"a":[27,114,142],"disturbance":[28,54],"suppression":[29],"strategy":[30],"based":[31],"on":[32,67,145],"kinematic":[34],"model":[35,39,77],"virtual":[38,63,71,125],"proposed.":[41],"Through":[42],"whole\u2010body":[44],"kinematics":[45],"modeling":[46],"body,":[49,152],"cause":[51],"analyzed.":[56],"At":[57],"same":[59,129],"time,":[60],"two":[61],"spring\u2010damping":[62,76,124],"elements":[64],"are":[65],"introduced":[66],"body.":[69],"force":[72],"generated":[73],"by":[74],"according":[79],"displacement":[82],"speed":[84],"CoM":[87],"(center":[88],"mass)":[90],"when":[91],"moving.":[95],"By":[96],"simulating":[97],"tort":[99],"gait":[100],"sorting":[104],"out":[105],"data":[107],"obtained":[108],"from":[109,160],"experiment,":[111],"drawing":[113],"comparison":[115],"curve":[116],"with":[117],"experiment":[119],"results":[120],"no":[123],"element":[126],"under":[127],"conditions,":[130],"it":[131],"proved":[133],"that":[134],"method":[136],"proposed":[137],"paper":[140],"has":[141],"significant":[143],"effect":[144],"maintaining":[146],"dynamic":[148],"actual":[155],"trajectory":[156],"not":[158],"different":[159],"theoretical":[162],"trajectory.":[163]},"counts_by_year":[{"year":2023,"cited_by_count":3}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}
