{"id":"https://openalex.org/W2772648222","doi":"https://doi.org/10.3390/robotics6040040","title":"Design of a Novel Leg-Wheel Hexapod Walking Robot","display_name":"Design of a Novel Leg-Wheel Hexapod Walking Robot","publication_year":2017,"publication_date":"2017-12-14","ids":{"openalex":"https://openalex.org/W2772648222","doi":"https://doi.org/10.3390/robotics6040040","mag":"2772648222"},"language":"en","primary_location":{"id":"doi:10.3390/robotics6040040","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040040","pdf_url":"https://www.mdpi.com/2218-6581/6/4/40/pdf?version=1513263263","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/2218-6581/6/4/40/pdf?version=1513263263","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018744461","display_name":"Franco Tedeschi","orcid":null},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Franco Tedeschi","raw_affiliation_strings":["Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084422764","display_name":"Giuseppe Carbone","orcid":"https://orcid.org/0000-0003-0831-8358"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Giuseppe Carbone","raw_affiliation_strings":["Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0831-8358","affiliations":[{"raw_affiliation_string":"Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy","institution_ids":["https://openalex.org/I186995768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5084422764"],"corresponding_institution_ids":["https://openalex.org/I186995768"],"apc_list":{"value":1800,"currency":"CHF","value_usd":2172},"apc_paid":{"value":1800,"currency":"CHF","value_usd":2172},"fwci":1.7642,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.83963548,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"6","issue":"4","first_page":"40","last_page":"40"},"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":0.9930999875068665,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9905999898910522,"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/hexapod","display_name":"Hexapod","score":0.9961679577827454},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7453585267066956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6397136449813843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5439247488975525},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.4709535539150238},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.44994205236434937},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.405689001083374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3762320578098297},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35809653997421265},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25893673300743103},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.12042731046676636}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9961679577827454},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7453585267066956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6397136449813843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5439247488975525},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.4709535539150238},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.44994205236434937},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.405689001083374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3762320578098297},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35809653997421265},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25893673300743103},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.12042731046676636},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics6040040","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040040","pdf_url":"https://www.mdpi.com/2218-6581/6/4/40/pdf?version=1513263263","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:fffc6061201c440e959404988a1c2095","is_oa":true,"landing_page_url":"https://doaj.org/article/fffc6061201c440e959404988a1c2095","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"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 6, Iss 4, p 40 (2017)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/6/4/40/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics6040040","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","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics6040040","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics6040040","pdf_url":"https://www.mdpi.com/2218-6581/6/4/40/pdf?version=1513263263","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":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2772648222.pdf","grobid_xml":"https://content.openalex.org/works/W2772648222.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W2307178","https://openalex.org/W651073484","https://openalex.org/W995551561","https://openalex.org/W1822001265","https://openalex.org/W2010245514","https://openalex.org/W2020920536","https://openalex.org/W2036669761","https://openalex.org/W2043980546","https://openalex.org/W2059722453","https://openalex.org/W2062029413","https://openalex.org/W2062152154","https://openalex.org/W2073091269","https://openalex.org/W2080486964","https://openalex.org/W2080749041","https://openalex.org/W2082828663","https://openalex.org/W2101490092","https://openalex.org/W2146302595","https://openalex.org/W2146746326","https://openalex.org/W2159873858","https://openalex.org/W2161017981","https://openalex.org/W2170892701","https://openalex.org/W2245794595","https://openalex.org/W2314262097","https://openalex.org/W2333716096","https://openalex.org/W2480806076","https://openalex.org/W2483152128","https://openalex.org/W2500309530","https://openalex.org/W2502446709","https://openalex.org/W2737564557","https://openalex.org/W6666354594","https://openalex.org/W6670437607","https://openalex.org/W6690675388"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W2317897576","https://openalex.org/W2313079363","https://openalex.org/W2686531177","https://openalex.org/W3054429790","https://openalex.org/W2088496724"],"abstract_inverted_index":{"Hexapod":[0,87],"walking":[1,44,83],"robots":[2],"have":[3,142],"been":[4],"widely":[5],"addressed":[6,67],"in":[7],"the":[8,39,77,117,126],"literature":[9],"with":[10,30,102,132],"a":[11,42,71,80,98,133],"very":[12],"large":[13],"number":[14],"of":[15,41,52,64,79,94,97,119],"design":[16,22,40,111],"and":[17,24,50,112,123,130,135],"engineering":[18,113],"solutions.":[19],"However,":[20],"specific":[21,31,62,127],"approaches":[23],"solutions":[25,114,141],"are":[26],"needed":[27],"to":[28,37,76,124],"cope":[29],"novel":[32,81,140],"applications.":[33],"This":[34,61],"paper":[35],"aims":[36],"address":[38],"hexapod":[43,82],"robot":[45,91],"having":[46],"exploration,":[47],"architectonic":[48],"survey,":[49],"maintenance":[51],"cultural":[53],"heritage":[54],"goods":[55],"as":[56,104],"its":[57,107],"main":[58],"application":[59,128],"tasks.":[60],"case":[63],"study":[65],"is":[66,92],"by":[68],"carrying":[69],"out":[70],"detailed":[72],"design,":[73],"which":[74],"led":[75],"construction":[78],"robot,":[84],"named":[85],"Cassino":[86],"III.":[88],"The":[89,109,138],"proposed":[90,110,139],"composed":[93],"hybrid":[95],"legs":[96],"modular":[99],"anthropomorphic":[100],"architecture":[101],"omni-wheels":[103],"feet":[105],"at":[106],"extremity.":[108],"can":[115],"overcome":[116],"limits":[118],"other":[120],"existing":[121],"prototypes":[122],"fulfil":[125],"requirements":[129],"constraints":[131],"cost-effective":[134],"user-friendly":[136],"solution.":[137],"also":[143],"originated":[144],"an":[145],"Italian":[146],"patent":[147],"No.":[148],"102014902238772.":[149]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":4}],"updated_date":"2026-08-21T09:56:20.448147","created_date":"2025-10-10T00:00:00"}