{"id":"https://openalex.org/W2106848320","doi":"https://doi.org/10.1177/0278364904047391","title":"System Design of a Quadrupedal Galloping Machine","display_name":"System Design of a Quadrupedal Galloping Machine","publication_year":2004,"publication_date":"2004-09-27","ids":{"openalex":"https://openalex.org/W2106848320","doi":"https://doi.org/10.1177/0278364904047391","mag":"2106848320"},"language":"en","primary_location":{"id":"doi:10.1177/0278364904047391","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904047391","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://opus.lib.uts.edu.au/bitstream/10453/9130/1/2006010246.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019117683","display_name":"JG Nichol","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J. Gordon Nichol","raw_affiliation_strings":["Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA,","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010900748","display_name":"Surya P. N. Singh","orcid":"https://orcid.org/0000-0001-8112-4547"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Surya P.N. Singh","raw_affiliation_strings":["Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028963289","display_name":"Kenneth J. Waldron","orcid":"https://orcid.org/0000-0002-7910-4907"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kenneth J. Waldron","raw_affiliation_strings":["Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Stanford University, 424 Panama Mall, Bldg 560, Stanford, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110760099","display_name":"Luther R. Palmer","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luther R. Palmer","raw_affiliation_strings":["Ohio State University, Department of Electrical and Computer Engineering,                         2015 Neil Avenue, Columbus, OH 43210, USA","Ohio State University, Department of Electrical and Computer Engineering, 2015 Neil Avenue, Columbus, OH 43210, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ohio State University, Department of Electrical and Computer Engineering,                         2015 Neil Avenue, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University, Department of Electrical and Computer Engineering, 2015 Neil Avenue, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057364155","display_name":"David E. Orin","orcid":null},"institutions":[{"id":"https://openalex.org/I52357470","display_name":"The Ohio State University","ror":"https://ror.org/00rs6vg23","country_code":"US","type":"education","lineage":["https://openalex.org/I52357470"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David E. Orin","raw_affiliation_strings":["Ohio State University, Department of Electrical and Computer Engineering,                         2015 Neil Avenue, Columbus, OH 43210, USA","Ohio State University, Department of Electrical and Computer Engineering, 2015 Neil Avenue, Columbus, OH 43210, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ohio State University, Department of Electrical and Computer Engineering,                         2015 Neil Avenue, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]},{"raw_affiliation_string":"Ohio State University, Department of Electrical and Computer Engineering, 2015 Neil Avenue, Columbus, OH 43210, USA","institution_ids":["https://openalex.org/I52357470"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5019117683"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":4.1743,"has_fulltext":true,"cited_by_count":119,"citation_normalized_percentile":{"value":0.93819474,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"23","issue":"10-11","first_page":"1013","last_page":"1027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9987999796867371,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9843000173568726,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9743000268936157,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/cursorial","display_name":"Cursorial","score":0.756601095199585},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5781413912773132},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5583796501159668},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5387158989906311},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4969034492969513},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.4815945327281952},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4697330892086029},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.4667746126651764},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4359460771083832},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4289686381816864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4063780903816223},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25232163071632385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24917525053024292}],"concepts":[{"id":"https://openalex.org/C2779582459","wikidata":"https://www.wikidata.org/wiki/Q5195335","display_name":"Cursorial","level":3,"score":0.756601095199585},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5781413912773132},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5583796501159668},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5387158989906311},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4969034492969513},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.4815945327281952},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4697330892086029},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.4667746126651764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4359460771083832},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4289686381816864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4063780903816223},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25232163071632385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24917525053024292},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","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/C188382862","wikidata":"https://www.wikidata.org/wiki/Q170430","display_name":"Predation","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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364904047391","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364904047391","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:opus.lib.uts.edu.au:10453/9130","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/9130","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/9130/1/2006010246.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"}],"best_oa_location":{"id":"pmh:oai:opus.lib.uts.edu.au:10453/9130","is_oa":true,"landing_page_url":"http://hdl.handle.net/10453/9130","pdf_url":"https://opus.lib.uts.edu.au/bitstream/10453/9130/1/2006010246.pdf","source":{"id":"https://openalex.org/S4306401357","display_name":"UTS ePRESS (University of Technology Sydney)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I114017466","host_organization_name":"University of Technology Sydney","host_organization_lineage":["https://openalex.org/I114017466"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2106848320.pdf","grobid_xml":"https://content.openalex.org/works/W2106848320.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W102106719","https://openalex.org/W304861154","https://openalex.org/W350499458","https://openalex.org/W624671205","https://openalex.org/W627306819","https://openalex.org/W1494916908","https://openalex.org/W1501891458","https://openalex.org/W1595630499","https://openalex.org/W1713376825","https://openalex.org/W1985834661","https://openalex.org/W1993947586","https://openalex.org/W2009554240","https://openalex.org/W2009725434","https://openalex.org/W2051347915","https://openalex.org/W2073746737","https://openalex.org/W2074126943","https://openalex.org/W2078139367","https://openalex.org/W2090373601","https://openalex.org/W2096836513","https://openalex.org/W2100245847","https://openalex.org/W2104519074","https://openalex.org/W2104628675","https://openalex.org/W2107052889","https://openalex.org/W2109453544","https://openalex.org/W2113626803","https://openalex.org/W2118339313","https://openalex.org/W2119825442","https://openalex.org/W2138020181","https://openalex.org/W2140202673","https://openalex.org/W2143805278","https://openalex.org/W2151130840","https://openalex.org/W2161427949","https://openalex.org/W2164932599","https://openalex.org/W2169195328","https://openalex.org/W2229648176","https://openalex.org/W2249822996","https://openalex.org/W2470259410","https://openalex.org/W2499842092","https://openalex.org/W2886750625","https://openalex.org/W3127002043"],"related_works":["https://openalex.org/W2155737217","https://openalex.org/W2034479229","https://openalex.org/W2164932599","https://openalex.org/W2107052889","https://openalex.org/W1971180096","https://openalex.org/W1992956164","https://openalex.org/W2775028049","https://openalex.org/W2509337293","https://openalex.org/W2110226918","https://openalex.org/W2087283056"],"abstract_inverted_index":{"In":[0,63],"this":[1,64,135,245],"paper":[2,65],"we":[3,12,66,226],"present":[4],"the":[5,25,58,71,115,119,121,156,275],"system":[6,213],"design":[7,123],"of":[8,29,126,134,241,244,250,277],"a":[9,17,82,89,131,147,163,168,182,193,238,242],"machine":[10,243],"that":[11],"have":[13,176,227],"constructed":[14],"to":[15,68,88,146,170,192],"study":[16],"quadrupedal":[18],"gallop":[19,22,240],"gait.":[20],"The":[21,137,185,259],"gait":[23,28],"is":[24,130,159,190,216,253],"preferred":[26],"high-speed":[27,97],"most":[30],"cursorial":[31],"quadrupeds.":[32],"To":[33],"gallop,":[34],"an":[35,151,278],"animal":[36],"must":[37],"generate":[38],"ballistic":[39],"trajectories":[40],"with":[41,48],"characteristic":[42],"strong":[43],"impacts,":[44],"coordinate":[45],"leg":[46,128,138,233],"movements":[47],"asymmetric":[49],"footfall":[50],"phasing,":[51],"and":[52,80,104,124,197,203,255,287],"effectively":[53],"use":[54,276],"compliant":[55],"members,":[56],"all":[57],"while":[59],"maintaining":[60],"dynamic":[61,239],"stability.":[62],"seek":[67],"further":[69],"understand":[70],"primary":[72],"biological":[73],"features":[74,95],"necessary":[75,236,248],"for":[76,179,237,267],"galloping":[77],"by":[78,114,118,143],"building":[79],"testing":[81],"robotic":[83],"quadruped":[84,171,251],"similar":[85],"in":[86,230],"size":[87],"large":[90,260],"goat":[91],"or":[92],"antelope.":[93],"These":[94],"include":[96],"actuation,":[98],"energy":[99,140,158],"storage,":[100],"on-line":[101,187],"learning":[102,188],"control,":[103,172,209],"high-performance":[105],"attitude":[106,257],"sensing.":[107,258],"Because":[108],"body":[109],"dynamics":[110],"are":[111,272],"primarily":[112],"influenced":[113],"impulses":[116],"delivered":[117],"legs,":[120],"successful":[122,229],"control":[125,200],"single":[127,269],"energetics":[129],"major":[132],"focus":[133],"work.":[136],"stores":[139],"during":[141],"flight":[142],"adding":[144],"tension":[145],"spring":[148,157],"acting":[149],"across":[150],"articulated":[152],"knee.":[153],"During":[154],"stance,":[155],"quickly":[160],"released":[161],"using":[162,282],"novel":[164],"capstan":[165],"design.":[166],"As":[167],"precursor":[169],"two":[173],"intelligent":[174],"strategies":[175],"been":[177,228],"developed":[178],"verification":[180],"on":[181],"one-legged":[183],"system.":[184],"Levenberg-Marquardt":[186],"method":[189],"applied":[191],"simple":[194],"heuristic":[195],"controller":[196],"provides":[198],"good":[199],"over":[201],"height":[202],"forward":[204],"velocity.":[205],"Direct":[206],"adaptive":[207],"fuzzy":[208],"which":[210,264],"requires":[211],"no":[212],"modeling":[214],"but":[215],"more":[217],"computationally":[218],"expensive,":[219],"exhibits":[220],"better":[221],"response.":[222],"Using":[223],"these":[224],"techniques":[225],"operating":[231],"one":[232],"at":[234],"speeds":[235],"scale.":[246],"Another":[247],"component":[249],"locomotion":[252],"high-resolution":[254],"high-bandwidth":[256],"ground":[261],"impact":[262],"accelerations,":[263],"cause":[265],"problems":[266],"any":[268],"traditional":[270],"sensor,":[271],"overcome":[273],"through":[274],"inertial":[279],"sensing":[280],"approach":[281],"updates":[283],"from":[284],"optical":[285],"sensors":[286],"vehicle":[288],"kinematics.":[289]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}