{"id":"https://openalex.org/W2093809438","doi":"https://doi.org/10.1163/156855393x00087","title":"Turning gaits of a quadrupedal walking machine","display_name":"Turning gaits of a quadrupedal walking machine","publication_year":1992,"publication_date":"1992-01-01","ids":{"openalex":"https://openalex.org/W2093809438","doi":"https://doi.org/10.1163/156855393x00087","mag":"2093809438"},"language":"en","primary_location":{"id":"doi:10.1163/156855393x00087","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00087","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/A5036132070","display_name":"Chang-De Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Chang-De Zhang","raw_affiliation_strings":["a Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680, USA"],"affiliations":[{"raw_affiliation_string":"a Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680, USA","institution_ids":["https://openalex.org/I39422238"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112285658","display_name":"Shin\u2010Min Song","orcid":null},"institutions":[{"id":"https://openalex.org/I39422238","display_name":"University of Illinois Chicago","ror":"https://ror.org/02mpq6x41","country_code":"US","type":"education","lineage":["https://openalex.org/I39422238"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shin-Min Song","raw_affiliation_strings":["b Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680, USA"],"affiliations":[{"raw_affiliation_string":"b Department of Mechanical Engineering, University of Illinois at Chicago, P.O. Box 4348, Chicago, IL 60680, USA","institution_ids":["https://openalex.org/I39422238"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5036132070"],"corresponding_institution_ids":["https://openalex.org/I39422238"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.21190415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"7","issue":"2","first_page":"121","last_page":"157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9948999881744385,"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":0.9948999881744385,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9470000267028809,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9460999965667725,"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/gait","display_name":"Gait","score":0.8627843856811523},{"id":"https://openalex.org/keywords/effect-of-gait-parameters-on-energetic-cost","display_name":"Effect of gait parameters on energetic cost","score":0.6149230003356934},{"id":"https://openalex.org/keywords/spinning","display_name":"Spinning","score":0.5537051558494568},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4855801463127136},{"id":"https://openalex.org/keywords/turning-radius","display_name":"Turning radius","score":0.472251832485199},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42628708481788635},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4199543297290802},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37661686539649963},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3591843843460083},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.27119871973991394},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1844768226146698},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17556232213974},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.11338594555854797}],"concepts":[{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.8627843856811523},{"id":"https://openalex.org/C20220851","wikidata":"https://www.wikidata.org/wiki/Q18206750","display_name":"Effect of gait parameters on energetic cost","level":4,"score":0.6149230003356934},{"id":"https://openalex.org/C154815118","wikidata":"https://www.wikidata.org/wiki/Q453762","display_name":"Spinning","level":2,"score":0.5537051558494568},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4855801463127136},{"id":"https://openalex.org/C205148227","wikidata":"https://www.wikidata.org/wiki/Q2558948","display_name":"Turning radius","level":2,"score":0.472251832485199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42628708481788635},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4199543297290802},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37661686539649963},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3591843843460083},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.27119871973991394},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1844768226146698},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17556232213974},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.11338594555854797},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855393x00087","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855393x00087","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":[{"score":0.550000011920929,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"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":14,"referenced_works":["https://openalex.org/W82683014","https://openalex.org/W215766046","https://openalex.org/W1670969129","https://openalex.org/W1974826144","https://openalex.org/W1995682655","https://openalex.org/W1998222945","https://openalex.org/W2005805981","https://openalex.org/W2010225229","https://openalex.org/W2012752411","https://openalex.org/W2042407741","https://openalex.org/W2044702652","https://openalex.org/W2089316207","https://openalex.org/W2094770975","https://openalex.org/W4241193181"],"related_works":["https://openalex.org/W2388850737","https://openalex.org/W2093871105","https://openalex.org/W2755530346","https://openalex.org/W3001094317","https://openalex.org/W2770579869","https://openalex.org/W2368504490","https://openalex.org/W4224309849","https://openalex.org/W2352237622","https://openalex.org/W3110097689","https://openalex.org/W2372871846"],"abstract_inverted_index":{"The":[0,48,76,95,109,125],"gaits":[1,24,37,111,118,136,142,174],"used":[2],"in":[3],"the":[4,18,29,32,35,53,61,66,82,85,102,106,116,130,156,162,166],"turning":[5,23,33,36,54,74,150,160,167],"motion":[6],"of":[7,22,31,63,84,134,158,165,169],"a":[8,13,71,144,148,159],"quadruped":[9],"are":[10,38,112,121,175],"studied":[11],"and":[12,45,90,105,119,172],"general":[14],"approach":[15],"to":[16,60,140,154],"compute":[17],"gait":[19,44,78,89,104],"stability":[20,132],"margins":[21],"is":[25,50,56,68,79,91],"derived.":[26],"Depending":[27],"on":[28,81,115],"location":[30],"centre,":[34],"divided":[39],"into":[40],"two":[41,99],"types:":[42],"spinning":[43,77,171],"circling":[46,110,173],"gait.":[47,108],"former":[49],"applied":[51,139],"when":[52],"centre":[55,62,168],"at":[57],"or":[58],"close":[59],"gravity,":[64],"whereas":[65],"latter":[67],"suitable":[69],"for":[70,93,147],"more":[72],"distant":[73],"centre.":[75],"developed":[80,113],"basis":[83],"z":[86],"type":[87],"creeping":[88],"optimized":[92],"stability.":[94],"optimization":[96],"procedure":[97],"yields":[98],"special":[100],"gaits:":[101],"wave-spinning":[103],"equal-phase-spinning":[107],"based":[114],"wave-crab":[117,135],"they":[120],"called":[122],"wave-circling":[123,141],"gaits.":[124],"numerical":[126],"results":[127],"reveal":[128],"that":[129],"analytical":[131],"equations":[133],"can":[137],"be":[138],"with":[143],"good":[145],"accuracy":[146],"large":[149],"radius.":[151],"In":[152],"order":[153],"assist":[155],"selection":[157],"gait,":[161],"stable":[163],"areas":[164],"both":[170],"generated":[176],"graphically.":[177]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
