{"id":"https://openalex.org/W2097983667","doi":"https://doi.org/10.1177/0959651811410257","title":"Reconfiguration of four-legged walking robot for actuator faults","display_name":"Reconfiguration of four-legged walking robot for actuator faults","publication_year":2011,"publication_date":"2011-09-09","ids":{"openalex":"https://openalex.org/W2097983667","doi":"https://doi.org/10.1177/0959651811410257","mag":"2097983667"},"language":"en","primary_location":{"id":"doi:10.1177/0959651811410257","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651811410257","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5113545290","display_name":"V. L. Krishnan","orcid":null},"institutions":[{"id":"https://openalex.org/I154851008","display_name":"Indian Institute of Technology Roorkee","ror":"https://ror.org/00582g326","country_code":"IN","type":"education","lineage":["https://openalex.org/I154851008"]}],"countries":["IN"],"is_corresponding":true,"raw_author_name":"V L Krishnan","raw_affiliation_strings":["Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058929088","display_name":"Pushparaj Mani Pathak","orcid":"https://orcid.org/0000-0001-7068-8574"},"institutions":[{"id":"https://openalex.org/I154851008","display_name":"Indian Institute of Technology Roorkee","ror":"https://ror.org/00582g326","country_code":"IN","type":"education","lineage":["https://openalex.org/I154851008"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"P M Pathak","raw_affiliation_strings":["Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101501595","display_name":"S.C. Jain","orcid":"https://orcid.org/0000-0002-3231-8932"},"institutions":[{"id":"https://openalex.org/I154851008","display_name":"Indian Institute of Technology Roorkee","ror":"https://ror.org/00582g326","country_code":"IN","type":"education","lineage":["https://openalex.org/I154851008"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"S C Jain","raw_affiliation_strings":["Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India"],"affiliations":[{"raw_affiliation_string":"Robotics and Control Laboratory Mechanical and Industrial Engineering Department, Indian Institute of Technology, Roorkee, India","institution_ids":["https://openalex.org/I154851008"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054043779","display_name":"Arun Kumar Samantaray","orcid":"https://orcid.org/0000-0002-2204-2389"},"institutions":[{"id":"https://openalex.org/I145894827","display_name":"Indian Institute of Technology Kharagpur","ror":"https://ror.org/03w5sq511","country_code":"IN","type":"education","lineage":["https://openalex.org/I145894827"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"A K Samantaray","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India","Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India","institution_ids":["https://openalex.org/I145894827"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, India#TAB#","institution_ids":["https://openalex.org/I145894827"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5113545290"],"corresponding_institution_ids":["https://openalex.org/I154851008"],"apc_list":null,"apc_paid":null,"fwci":3.9151,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93716551,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"226","issue":"1","first_page":"11","last_page":"26"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","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"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","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"}},{"id":"https://openalex.org/T10409","display_name":"Fuel Cells and Related Materials","score":0.9771999716758728,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/T11663","display_name":"Viral Infectious Diseases and Gene Expression in Insects","score":0.9710000157356262,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6787157654762268},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6770572662353516},{"id":"https://openalex.org/keywords/control-reconfiguration","display_name":"Control reconfiguration","score":0.628195583820343},{"id":"https://openalex.org/keywords/bond-graph","display_name":"Bond graph","score":0.6183571815490723},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5983795523643494},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.5629589557647705},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49448299407958984},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4459022879600525},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4366544187068939},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41055524349212646},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3747580647468567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21625584363937378},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1454421877861023},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.13850316405296326}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6787157654762268},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6770572662353516},{"id":"https://openalex.org/C119701452","wikidata":"https://www.wikidata.org/wiki/Q5165881","display_name":"Control reconfiguration","level":2,"score":0.628195583820343},{"id":"https://openalex.org/C187593909","wikidata":"https://www.wikidata.org/wiki/Q838024","display_name":"Bond graph","level":2,"score":0.6183571815490723},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5983795523643494},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.5629589557647705},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49448299407958984},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4459022879600525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4366544187068939},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41055524349212646},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3747580647468567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21625584363937378},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1454421877861023},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.13850316405296326},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651811410257","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651811410257","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"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":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1920083773","https://openalex.org/W1964819327","https://openalex.org/W1978225165","https://openalex.org/W1996469419","https://openalex.org/W2012988977","https://openalex.org/W2030672504","https://openalex.org/W2034743065","https://openalex.org/W2045436817","https://openalex.org/W2057615745","https://openalex.org/W2116922932","https://openalex.org/W2139350791","https://openalex.org/W3139610437","https://openalex.org/W4251873651"],"related_works":["https://openalex.org/W3009669764","https://openalex.org/W1958094387","https://openalex.org/W2357657342","https://openalex.org/W2032170356","https://openalex.org/W2614520266","https://openalex.org/W2371731813","https://openalex.org/W2555022781","https://openalex.org/W2130594209","https://openalex.org/W2765315036","https://openalex.org/W4312441773"],"abstract_inverted_index":{"This":[0,57],"paper":[1],"presents":[2],"fault":[3,108,112],"accommodation":[4],"through":[5],"the":[6,19,34,38,69,81,87,111,117,124,129,133,146],"reconfiguration":[7],"of":[8,80,148],"a":[9,25,52,72,149],"four":[10],"legged":[11],"(quadruped)":[12],"walking":[13,20],"robot.":[14],"It":[15],"is":[16,22,41,55,65,83,114,142],"assumed":[17],"that":[18,132],"robot":[21,70],"moving":[23,53],"using":[24],"bounding":[26],"gait.":[27],"A":[28,43],"bond":[29,77],"graph":[30,78],"model":[31,79],"to":[32,85,98,105,127],"represent":[33],"robot\u2019s":[35],"locomotion":[36],"in":[37,116],"sagittal":[39],"plane":[40],"developed.":[42],"novel":[44],"and":[45,64],"simple":[46],"attitude":[47],"control":[48,135],"device":[49,59],"based":[50],"on":[51],"appendage":[54,58],"proposed.":[56],"serves":[60],"as":[61],"redundant":[62],"hardware":[63],"activated":[66],"only":[67],"when":[68],"experiences":[71],"locked":[73],"joint":[74],"failure.":[75],"The":[76,139],"system":[82,130],"used":[84,104],"generate":[86,99],"analytical":[88],"redundancy":[89],"relations":[90],"which":[91],"are":[92,103,137],"then":[93],"evaluated":[94],"with":[95],"actual":[96],"measurements":[97],"residuals.":[100],"These":[101],"residuals":[102],"perform":[106],"structural":[107],"isolation.":[109],"Once":[110],"list":[113],"updated":[115],"equipment":[118],"availability":[119],"database,":[120],"an":[121],"automaton":[122],"selects":[123],"best":[125],"option":[126],"reconfigure":[128],"such":[131],"given":[134],"objectives":[136],"achieved.":[138],"developed":[140],"methodology":[141],"validated":[143],"by":[144],"considering":[145],"failure":[147],"joint\u2019s":[150],"actuator.":[151]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
