{"id":"https://openalex.org/W2045243672","doi":"https://doi.org/10.1177/0278364908091023","title":"Legless Locomotion: A Novel Locomotion Technique for Legged Robots","display_name":"Legless Locomotion: A Novel Locomotion Technique for Legged Robots","publication_year":2008,"publication_date":"2008-04-25","ids":{"openalex":"https://openalex.org/W2045243672","doi":"https://doi.org/10.1177/0278364908091023","mag":"2045243672"},"language":"en","primary_location":{"id":"doi:10.1177/0278364908091023","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908091023","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066817859","display_name":"Ravi Balasubramanian","orcid":"https://orcid.org/0000-0001-7472-6603"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ravi Balasubramanian","raw_affiliation_strings":["Computer Science and Engineering, University of Washington, Box 352350, Seattle, WA 98195-2350, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science and Engineering, University of Washington, Box 352350, Seattle, WA 98195-2350, USA,","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A. Rizzi","raw_affiliation_strings":["Boston Dynamics, 614 Massachusetts Avenue, Cambridge, MA 02139, USA","Boston Dynamics, 614 Massachusetts Avenue, Cambridge,MA 02139, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, 614 Massachusetts Avenue, Cambridge, MA 02139, USA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"Boston Dynamics, 614 Massachusetts Avenue, Cambridge,MA 02139, USA#TAB#","institution_ids":["https://openalex.org/I4210143335"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002872886","display_name":"Matthew T. Mason","orcid":"https://orcid.org/0000-0002-2672-5689"},"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":"Matthew T. Mason","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213-3890, USA","Robotics Institute, Carnegie Mellon University, 5000Forbes Avenue, Pittsburgh, PA 15213-3890, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213-3890, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, 5000Forbes Avenue, Pittsburgh, PA 15213-3890, USA#TAB#","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7504,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.73924127,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"27","issue":"5","first_page":"575","last_page":"594"},"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":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9980000257492065,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.7802855372428894},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7351921796798706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5141818523406982},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.5122637152671814},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.49619346857070923},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4910421371459961},{"id":"https://openalex.org/keywords/bipedalism","display_name":"Bipedalism","score":0.4592653512954712},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4292599856853485},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.4272041916847229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40177515149116516},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3719104528427124},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.25036168098449707},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.223738431930542},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.21777001023292542},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.168841153383255},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10782244801521301},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.09678274393081665}],"concepts":[{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.7802855372428894},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7351921796798706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5141818523406982},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.5122637152671814},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.49619346857070923},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4910421371459961},{"id":"https://openalex.org/C143733281","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Bipedalism","level":2,"score":0.4592653512954712},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4292599856853485},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.4272041916847229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40177515149116516},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3719104528427124},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25036168098449707},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.223738431930542},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.21777001023292542},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.168841153383255},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10782244801521301},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.09678274393081665},{"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/0278364908091023","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364908091023","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:CiteSeerX.psu:10.1.1.165.455","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.165.455","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ri.cmu.edu/pub_files/pub4/balasubramanian_ravi_2008_1/balasubramanian_ravi_2008_1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":68,"referenced_works":["https://openalex.org/W62701742","https://openalex.org/W141577064","https://openalex.org/W585670370","https://openalex.org/W774034202","https://openalex.org/W1553616171","https://openalex.org/W1555601014","https://openalex.org/W1564897360","https://openalex.org/W1666853850","https://openalex.org/W1697916282","https://openalex.org/W1807907329","https://openalex.org/W1822001265","https://openalex.org/W1874982062","https://openalex.org/W1964168076","https://openalex.org/W1971175227","https://openalex.org/W1971998222","https://openalex.org/W1982928172","https://openalex.org/W1993300073","https://openalex.org/W2002471233","https://openalex.org/W2007989953","https://openalex.org/W2017311954","https://openalex.org/W2017444601","https://openalex.org/W2019575952","https://openalex.org/W2029758838","https://openalex.org/W2040215324","https://openalex.org/W2055381285","https://openalex.org/W2065942939","https://openalex.org/W2069612046","https://openalex.org/W2091568477","https://openalex.org/W2098179188","https://openalex.org/W2098573425","https://openalex.org/W2098759357","https://openalex.org/W2098816851","https://openalex.org/W2099210720","https://openalex.org/W2101196304","https://openalex.org/W2106737440","https://openalex.org/W2106789842","https://openalex.org/W2107034328","https://openalex.org/W2111338039","https://openalex.org/W2115643799","https://openalex.org/W2121795633","https://openalex.org/W2123031219","https://openalex.org/W2123234393","https://openalex.org/W2124052803","https://openalex.org/W2125294736","https://openalex.org/W2125680021","https://openalex.org/W2134911466","https://openalex.org/W2135399528","https://openalex.org/W2136073474","https://openalex.org/W2138671676","https://openalex.org/W2139769822","https://openalex.org/W2140202673","https://openalex.org/W2148975592","https://openalex.org/W2150091475","https://openalex.org/W2154384511","https://openalex.org/W2161095658","https://openalex.org/W2161427949","https://openalex.org/W2161486070","https://openalex.org/W2162919260","https://openalex.org/W2163668399","https://openalex.org/W2164381810","https://openalex.org/W2493080990","https://openalex.org/W2697370437","https://openalex.org/W3142707146","https://openalex.org/W3217246742","https://openalex.org/W4236573885","https://openalex.org/W4285719527","https://openalex.org/W4292408540","https://openalex.org/W4300802661"],"related_works":["https://openalex.org/W2942196653","https://openalex.org/W2119490745","https://openalex.org/W2145555530","https://openalex.org/W1972877171","https://openalex.org/W2998506550","https://openalex.org/W2036464548","https://openalex.org/W2188053476","https://openalex.org/W2599193808","https://openalex.org/W92979448","https://openalex.org/W4289731088"],"abstract_inverted_index":{"We":[0,113],"present":[1,115],"a":[2,11,23,43,80,116],"novel":[3],"locomotion":[4,8,38,70],"strategy":[5],"called":[6],"legless":[7],"that":[9,109],"allows":[10],"round-bodied":[12],"legged":[13],"robot":[14,25],"to":[15,46,93,106],"locomote":[16],"approximately":[17],"when":[18,53],"it":[19],"is":[20,26],"high-centered.":[21],"Typically,":[22],"high-centered":[24],"stuck":[27],"since":[28],"the":[29,35,40,60,74,95,100,104],"robot's":[30],"legs":[31,41],"do":[32],"not":[33],"touch":[34],"ground.":[36],"Legless":[37,62],"uses":[39,99],"as":[42],"reaction":[44],"mass":[45],"set":[47],"up":[48],"oscillatory":[49],"body":[50],"rotations":[51],"which":[52],"coupled":[54],"with":[55],"ground":[56],"contact":[57,86],"gradually":[58],"translate":[59],"robot.":[61],"locomotion's":[63,121],"continuous":[64],"dynamics":[65,97],"differs":[66],"from":[67,103],"previously":[68],"studied":[69],"methods":[71],"because":[72],"of":[73,77,118],"simultaneous":[75],"interaction":[76],"gravity-induced":[78],"oscillations,":[79],"configuration-dependent":[81],"system":[82],"inertia,":[83],"and":[84,98,125],"non-holonomic":[85],"constraints.":[87],"This":[88],"paper":[89],"employs":[90],"simple":[91],"models":[92,105],"capture":[94],"complex":[96],"intuition":[101],"developed":[102],"develop":[107],"gaits":[108],"provide":[110],"planar":[111],"accessibility.":[112],"also":[114],"quantification":[117],"leg":[119],"less":[120],"properties":[122],"using":[123],"simulations":[124],"motion-capture":[126],"experiments.":[127]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
