{"id":"https://openalex.org/W2059079638","doi":"https://doi.org/10.1177/027836499101000403","title":"Motion Control of a Legged Machine in the Supportless Phase of Hopping","display_name":"Motion Control of a Legged Machine in the Supportless Phase of Hopping","publication_year":1991,"publication_date":"1991-08-01","ids":{"openalex":"https://openalex.org/W2059079638","doi":"https://doi.org/10.1177/027836499101000403","mag":"2059079638"},"language":"en","primary_location":{"id":"doi:10.1177/027836499101000403","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000403","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/A5039223229","display_name":"\u0412 \u0412 \u041b\u0430\u043f\u0448\u0438\u043d","orcid":"https://orcid.org/0000-0003-3274-2159"},"institutions":[{"id":"https://openalex.org/I86427540","display_name":"Keldysh Institute of Applied Mathematics","ror":"https://ror.org/01dv3hq14","country_code":"RU","type":"facility","lineage":["https://openalex.org/I1313323035","https://openalex.org/I4210124601","https://openalex.org/I86427540"]}],"countries":["RU"],"is_corresponding":true,"raw_author_name":"V.V. Lapshin","raw_affiliation_strings":["Keldysh Institute of Applied Mathematics USSR Academy of Sciences Miusskaiya sq. 4, Moscow, 125047, USSR"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Keldysh Institute of Applied Mathematics USSR Academy of Sciences Miusskaiya sq. 4, Moscow, 125047, USSR","institution_ids":["https://openalex.org/I86427540"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5039223229"],"corresponding_institution_ids":["https://openalex.org/I86427540"],"apc_list":null,"apc_paid":null,"fwci":3.8551,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.93272365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"327","last_page":"337"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9937999844551086,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9865999817848206,"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/motion-control","display_name":"Motion control","score":0.5401055216789246},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5370660424232483},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5057966709136963},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4832233190536499},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4736325144767761},{"id":"https://openalex.org/keywords/phase","display_name":"Phase (matter)","score":0.45615991950035095},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3593762516975403},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3044668436050415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2859092652797699},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.239559143781662},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2278936207294464}],"concepts":[{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5401055216789246},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5370660424232483},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5057966709136963},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4832233190536499},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4736325144767761},{"id":"https://openalex.org/C44280652","wikidata":"https://www.wikidata.org/wiki/Q104837","display_name":"Phase (matter)","level":2,"score":0.45615991950035095},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3593762516975403},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3044668436050415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2859092652797699},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.239559143781662},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2278936207294464},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/027836499101000403","is_oa":false,"landing_page_url":"https://doi.org/10.1177/027836499101000403","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:10.1.1.852.8532","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.852.8532","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/10/4/327.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W2001606086","https://openalex.org/W2005597860","https://openalex.org/W2057858051","https://openalex.org/W2070624020","https://openalex.org/W2087459731","https://openalex.org/W2899687701","https://openalex.org/W2986912526","https://openalex.org/W3168356080","https://openalex.org/W4247637327","https://openalex.org/W6758373238"],"related_works":["https://openalex.org/W1972707370","https://openalex.org/W2527319229","https://openalex.org/W1592479756","https://openalex.org/W2368669603","https://openalex.org/W2510212258","https://openalex.org/W1522672041","https://openalex.org/W2379164260","https://openalex.org/W2387672602","https://openalex.org/W1911167679","https://openalex.org/W2358529071"],"abstract_inverted_index":{"The":[0],"problem":[1],"of":[2,7,20],"providing":[3],"a":[4,8],"required":[5],"orientation":[6],"hop":[9],"ping":[10],"machine's":[11],"body":[12],"at":[13],"touchdown":[14],"time":[15],"by":[16],"changing":[17],"the":[18,21,24],"movement":[19],"legs":[22],"during":[23],"flight":[25],"phase":[26],"is":[27],"investi":[28],"gated.":[29]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}