{"id":"https://openalex.org/W2006396240","doi":"https://doi.org/10.1163/156855391x00115","title":"Terrain adaptive gaits for the Ambler","display_name":"Terrain adaptive gaits for the Ambler","publication_year":1990,"publication_date":"1990-01-01","ids":{"openalex":"https://openalex.org/W2006396240","doi":"https://doi.org/10.1163/156855391x00115","mag":"2006396240"},"language":"en","primary_location":{"id":"doi:10.1163/156855391x00115","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855391x00115","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5110336232","display_name":"Suren N. Dwivedi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Suren N. Dwivedi","raw_affiliation_strings":["Department of Mechanical Engineering, West Virginia University, Morgantown, WV 26506, U.S.A"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, West Virginia University, Morgantown, WV 26506, U.S.A","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5086281521","display_name":"Swami Mahalingam","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Swami Mahalingam","raw_affiliation_strings":["Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","Carnegie-Mellon University , Pittsburgh, Pa, 15213, U.S.A"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University, Pittsburgh, PA 15213, U.S.A","institution_ids":[]},{"raw_affiliation_string":"Carnegie-Mellon University , Pittsburgh, Pa, 15213, U.S.A","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110336232"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5207,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.81533804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"5","issue":"2","first_page":"109","last_page":"132"},"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":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7924882173538208},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7428473234176636},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.52371746301651},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4683961868286133},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43103986978530884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3928171396255493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37618350982666016},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29085850715637207},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.25108635425567627},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08778411149978638},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07996994256973267},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.07940143346786499}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7924882173538208},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7428473234176636},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.52371746301651},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4683961868286133},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43103986978530884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3928171396255493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37618350982666016},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29085850715637207},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.25108635425567627},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08778411149978638},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07996994256973267},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.07940143346786499},{"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855391x00115","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855391x00115","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8700000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W284131886","https://openalex.org/W294030547","https://openalex.org/W1977727715","https://openalex.org/W1982030779","https://openalex.org/W2020342163","https://openalex.org/W2030073258","https://openalex.org/W4240536764"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W2914059119","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W3044778482","https://openalex.org/W3040494141","https://openalex.org/W4384026392"],"abstract_inverted_index":{"The":[0,84],"configuration":[1,40],"of":[2,16,52,58,60,63,86,109],"the":[3,14,21,26,53,56,64,71,74,81,87,110],"Ambler,":[4],"a":[5,17],"six-legged":[6],"autonomous":[7],"walking":[8],"vehicle":[9,54],"for":[10,37,70],"exploring":[11],"Mars,":[12],"enables":[13],"recovery":[15],"trailing":[18],"leg":[19,23],"past":[20],"leading":[22],"to":[24],"reduce":[25],"energy":[27],"expenditure":[28],"in":[29,55],"terrain":[30,93,103],"interactions.":[31],"In":[32],"this":[33,38],"paper,":[34],"gaits":[35,68],"developed":[36,48,69],"unprecedented":[39],"are":[41],"described.":[42],"A":[43],"stability":[44,51,82],"criterion":[45],"has":[46,97],"been":[47,98],"which":[49,90],"ensures":[50],"event":[57],"failure":[59],"any":[61],"one":[62],"supporting":[65],"legs.":[66],"Periodic":[67],"Ambler":[72],"utilize":[73],"Ambler's":[75],"unique":[76],"abilities":[77],"and":[78],"continuously":[79],"satisfy":[80],"criterion.":[83],"performance":[85],"periodic":[88],"gait":[89,111],"provides":[91],"minimum":[92],"interactions":[94],"per":[95],"advancement":[96],"further":[99],"improved":[100],"by":[101],"enabling":[102],"adaptive":[104],"foot":[105],"placement":[106],"without":[107],"disturbance":[108],"parameters.":[112]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}
