{"id":"https://openalex.org/W3206508545","doi":"https://doi.org/10.3390/robotics10040114","title":"Reuleaux Triangle\u2013Based Two Degrees of Freedom Bipedal Robot","display_name":"Reuleaux Triangle\u2013Based Two Degrees of Freedom Bipedal Robot","publication_year":2021,"publication_date":"2021-10-16","ids":{"openalex":"https://openalex.org/W3206508545","doi":"https://doi.org/10.3390/robotics10040114","mag":"3206508545"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10040114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040114","pdf_url":"https://www.mdpi.com/2218-6581/10/4/114/pdf?version=1636440848","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/4/114/pdf?version=1636440848","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5065089664","display_name":"Jiteng Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jiteng Yang","raw_affiliation_strings":["Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076565420","display_name":"Wael Saab","orcid":"https://orcid.org/0000-0002-9445-7057"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wael Saab","raw_affiliation_strings":["Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041832341","display_name":"Yujiong Liu","orcid":"https://orcid.org/0000-0003-4926-5109"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yujiong Liu","raw_affiliation_strings":["Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085458507","display_name":"Pinhas Ben\u2010Tzvi","orcid":"https://orcid.org/0000-0002-9452-482X"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pinhas Ben-Tzvi","raw_affiliation_strings":["Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA"],"raw_orcid":"https://orcid.org/0000-0002-9452-482X","affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics Laboratory, Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA 24061, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5085458507"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.1699,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.46149045,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"10","issue":"4","first_page":"114","last_page":"114"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9926000237464905,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9886999726295471,"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/kinematics","display_name":"Kinematics","score":0.749566912651062},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6924967765808105},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6493210792541504},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5563480257987976},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5543557405471802},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.5003941059112549},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.46671172976493835},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4593428075313568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4219525456428528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2011989951133728},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16128528118133545},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1399785578250885},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09306487441062927}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.749566912651062},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6924967765808105},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6493210792541504},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5563480257987976},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5543557405471802},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.5003941059112549},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.46671172976493835},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4593428075313568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4219525456428528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2011989951133728},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16128528118133545},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1399785578250885},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09306487441062927},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics10040114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040114","pdf_url":"https://www.mdpi.com/2218-6581/10/4/114/pdf?version=1636440848","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:56dbb735f3e24f699076e9c9c03e7e05","is_oa":true,"landing_page_url":"https://doaj.org/article/56dbb735f3e24f699076e9c9c03e7e05","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 4, p 114 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/4/114/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10040114","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 4; Pages: 114","raw_type":"Text"},{"id":"pmh:oai:vtechworks.lib.vt.edu:10919/105640","is_oa":true,"landing_page_url":"http://hdl.handle.net/10919/105640","pdf_url":null,"source":{"id":"https://openalex.org/S4306400248","display_name":"VTechWorks (Virginia Tech)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I859038795","host_organization_name":"Virginia Tech","host_organization_lineage":["https://openalex.org/I859038795"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10040114","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10040114","pdf_url":"https://www.mdpi.com/2218-6581/10/4/114/pdf?version=1636440848","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5}],"awards":[{"id":"https://openalex.org/G1995799566","display_name":null,"funder_award_id":"1557352","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8936783087","display_name":null,"funder_award_id":"1906727","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3206508545.pdf","grobid_xml":"https://content.openalex.org/works/W3206508545.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W37667216","https://openalex.org/W1822001265","https://openalex.org/W1982812855","https://openalex.org/W2036669761","https://openalex.org/W2048923601","https://openalex.org/W2059605821","https://openalex.org/W2071941952","https://openalex.org/W2072058060","https://openalex.org/W2089461310","https://openalex.org/W2117235105","https://openalex.org/W2118717416","https://openalex.org/W2127502208","https://openalex.org/W2130095752","https://openalex.org/W2159220301","https://openalex.org/W2160979164","https://openalex.org/W2170896522","https://openalex.org/W2277797954","https://openalex.org/W2278830304","https://openalex.org/W2331035152","https://openalex.org/W2415959992","https://openalex.org/W2559844880","https://openalex.org/W2575092257","https://openalex.org/W2913212791","https://openalex.org/W2916052032","https://openalex.org/W2968213087","https://openalex.org/W3009943973","https://openalex.org/W3099935670","https://openalex.org/W3189389042","https://openalex.org/W4250058668","https://openalex.org/W6668404657","https://openalex.org/W6680033313"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,58,67,81,101,110],"design,":[4],"modeling,":[5],"analysis,":[6],"and":[7,30,54,71,89,95,103,124],"experimental":[8],"results":[9,107],"of":[10,57],"a":[11,39,46,85,120],"novel":[12],"bipedal":[13],"robotic":[14],"system":[15],"that":[16,109],"utilizes":[17],"two":[18],"interconnected":[19],"single":[20,33],"degree-of-freedom":[21],"(DOF)":[22],"leg":[23,35],"mechanisms":[24],"to":[25,44,65,79,83,99,114],"produce":[26,45],"stable":[27],"forward":[28,90],"locomotion":[29,127],"steering.":[31],"The":[32,106],"DOF":[34],"is":[36,62,76,112],"actuated":[37],"via":[38],"Reuleaux":[40,59],"triangle":[41,60],"cam-follower":[42],"mechanism":[43,61],"constant":[47,86,121],"body":[48,87,117,122],"height":[49,70,88],"foot":[50],"trajectory.":[51],"Kinematic":[52],"analysis":[53],"dimension":[55],"selection":[56],"conducted":[63,98],"first":[64],"generate":[66],"desired":[68],"step":[69,72],"length.":[73],"Leg":[74],"sequencing":[75],"then":[77],"designed":[78],"allow":[80],"robot":[82,111],"maintain":[84,119],"walking":[91,102],"velocity.":[92],"Dynamic":[93],"simulations":[94],"experiments":[96],"are":[97],"evaluate":[100],"steering":[104],"performance.":[105],"show":[108],"able":[113],"control":[115],"its":[116],"orientation,":[118],"height,":[123],"achieve":[125],"quasi-static":[126],"stability.":[128]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2021-10-25T00:00:00"}