{"id":"https://openalex.org/W2968152495","doi":"https://doi.org/10.3390/s19163588","title":"Dynamic Walking of a Legged Robot in Underwater Environments","display_name":"Dynamic Walking of a Legged Robot in Underwater Environments","publication_year":2019,"publication_date":"2019-08-17","ids":{"openalex":"https://openalex.org/W2968152495","doi":"https://doi.org/10.3390/s19163588","mag":"2968152495","pmid":"https://pubmed.ncbi.nlm.nih.gov/31426547"},"language":"en","primary_location":{"id":"doi:10.3390/s19163588","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19163588","pdf_url":"https://www.mdpi.com/1424-8220/19/16/3588/pdf?version=1566374064","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/19/16/3588/pdf?version=1566374064","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5068360245","display_name":"Gerardo Portilla","orcid":"https://orcid.org/0000-0002-4287-0800"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Gerardo Portilla","raw_affiliation_strings":["Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051334051","display_name":"Roque Saltar\u00e9n","orcid":"https://orcid.org/0000-0001-8009-5350"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Roque Saltar\u00e9n","raw_affiliation_strings":["Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Francisco Montero de Espinosa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210087408","display_name":"Instituto de Tecnolog\u00edas F\u00edsicas y de la Informaci\u00f3n \u201cLeonardo Torres Quevedo\u201d","ror":"https://ror.org/00zsy6110","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210087408"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Montero de Espinosa","raw_affiliation_strings":["Instituto de Tecnolog\u00edas F\u00edsicas y de la Informaci\u00f3n \u201cLeonardo Torres Quevedo\u201d, 28006 Madrid, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto de Tecnolog\u00edas F\u00edsicas y de la Informaci\u00f3n \u201cLeonardo Torres Quevedo\u201d, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210087408"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048841701","display_name":"Alejandro Rodriguez-Barroso","orcid":"https://orcid.org/0000-0002-9710-7810"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Alejandro R. Barroso","raw_affiliation_strings":["Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-9710-7810","affiliations":[{"raw_affiliation_string":"Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047624312","display_name":"Juan S. Cely","orcid":"https://orcid.org/0000-0003-3348-0533"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Juan Cely","raw_affiliation_strings":["Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0003-3348-0533","affiliations":[{"raw_affiliation_string":"Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059149427","display_name":"Oz Yakrangi","orcid":"https://orcid.org/0000-0002-0934-6943"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]},{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Oz Yakrangi","raw_affiliation_strings":["Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain"],"raw_orcid":"https://orcid.org/0000-0002-0934-6943","affiliations":[{"raw_affiliation_string":"Centro de Autom\u00e1tica y Rob\u00f3tica, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]},{"raw_affiliation_string":"Universidad Polit\u00e9cnica de Madrid, Escuela T\u00e9cnica Superior De Ingenieros Industriales, 28006 Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5068360245"],"corresponding_institution_ids":["https://openalex.org/I4210125392","https://openalex.org/I88060688"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.5978,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.65619122,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"19","issue":"16","first_page":"3588","last_page":"3588"},"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/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.992900013923645,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean 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"}}],"keywords":[{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.7964739799499512},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7197040319442749},{"id":"https://openalex.org/keywords/underwater","display_name":"Underwater","score":0.7188557982444763},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.665815532207489},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.6209998726844788},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5651445388793945},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.537443995475769},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5344758629798889},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.44207778573036194},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4107429087162018},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38819417357444763},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3380231559276581},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2490566074848175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17174655199050903},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14161217212677002},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.10730713605880737},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08744680881500244},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08001944422721863}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.7964739799499512},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7197040319442749},{"id":"https://openalex.org/C98083399","wikidata":"https://www.wikidata.org/wiki/Q3246517","display_name":"Underwater","level":2,"score":0.7188557982444763},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.665815532207489},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.6209998726844788},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5651445388793945},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.537443995475769},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5344758629798889},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.44207778573036194},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4107429087162018},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38819417357444763},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3380231559276581},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2490566074848175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17174655199050903},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14161217212677002},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.10730713605880737},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08744680881500244},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08001944422721863},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical 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":9,"locations":[{"id":"doi:10.3390/s19163588","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19163588","pdf_url":"https://www.mdpi.com/1424-8220/19/16/3588/pdf?version=1566374064","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:31426547","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/31426547","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:digital.csic.es:10261/188977","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/188977","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"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":"","raw_type":"art\u00edculo"},{"id":"pmh:oai:dnet:archivodigit::355ca64f54181abef6c8c8c390412758","is_oa":true,"landing_page_url":"http://oa.upm.es/64155/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, ISSN 1424-8220, 2019-08-17, Vol. 19, No. 16","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:doaj.org/article:235a82c023654c2d9babf0dfb61ad6e0","is_oa":true,"landing_page_url":"https://doaj.org/article/235a82c023654c2d9babf0dfb61ad6e0","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":"Sensors, Vol 19, Iss 16, p 3588 (2019)","raw_type":"article"},{"id":"pmh:oai:eciencia.urjc.es:10115/29955","is_oa":true,"landing_page_url":"https://hdl.handle.net/10115/29955","pdf_url":null,"source":{"id":"https://openalex.org/S4377196484","display_name":"BURJC Digital (King Juan Carlos University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I182083151","host_organization_name":"Universidad Rey Juan Carlos","host_organization_lineage":["https://openalex.org/I182083151"],"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":"","raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:mdpi.com:/1424-8220/19/16/3588/","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s19163588","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":"Sensors","raw_type":"Text"},{"id":"pmh:oai:oa.upm.es:64155","is_oa":true,"landing_page_url":"https://oa.upm.es/64155/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196323","display_name":"UPM Digital Archive (Technical University of Madrid)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I88060688","host_organization_name":"Universidad Polit\u00e9cnica de Madrid","host_organization_lineage":["https://openalex.org/I88060688"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, ISSN 1424-8220, 2019-08-17, Vol. 19, No. 16","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"pmh:oai:pubmedcentral.nih.gov:6721286","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/6721286","pdf_url":null,"source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s19163588","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s19163588","pdf_url":"https://www.mdpi.com/1424-8220/19/16/3588/pdf?version=1566374064","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8399999737739563,"display_name":"Life below water","id":"https://metadata.un.org/sdg/14"}],"awards":[{"id":"https://openalex.org/G146716404","display_name":null,"funder_award_id":"S2018/NMT-4331","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2968152495.pdf","grobid_xml":"https://content.openalex.org/works/W2968152495.grobid-xml"},"referenced_works_count":33,"referenced_works":["https://openalex.org/W126726110","https://openalex.org/W618254468","https://openalex.org/W1530936418","https://openalex.org/W1563674325","https://openalex.org/W1591175830","https://openalex.org/W1985875375","https://openalex.org/W1993314711","https://openalex.org/W1997576152","https://openalex.org/W2018275732","https://openalex.org/W2030515455","https://openalex.org/W2037562275","https://openalex.org/W2066133103","https://openalex.org/W2074154222","https://openalex.org/W2077129956","https://openalex.org/W2085558553","https://openalex.org/W2108478100","https://openalex.org/W2133859362","https://openalex.org/W2161427949","https://openalex.org/W2292710049","https://openalex.org/W2492811885","https://openalex.org/W2566210125","https://openalex.org/W2605050815","https://openalex.org/W2612415694","https://openalex.org/W2613039361","https://openalex.org/W2888871261","https://openalex.org/W2894567635","https://openalex.org/W2897241879","https://openalex.org/W2913859526","https://openalex.org/W2943002557","https://openalex.org/W3026829485","https://openalex.org/W4236225989","https://openalex.org/W4251420516","https://openalex.org/W4298082233"],"related_works":["https://openalex.org/W2259616189","https://openalex.org/W2373921823","https://openalex.org/W2331332883","https://openalex.org/W4388412763","https://openalex.org/W2591930867","https://openalex.org/W2131037267","https://openalex.org/W2968152495","https://openalex.org/W4312441773","https://openalex.org/W2969681526","https://openalex.org/W2079995373"],"abstract_inverted_index":{"In":[0],"this":[1,16,106],"research,":[2],"the":[3,18,30,33,36,39,42,54,57,78,86,90,97,100,109,113],"dynamic":[4,110],"walking":[5,111],"of":[6,32,35,38,56,68,89,99,112],"a":[7,69],"legged":[8,70,114],"robot":[9,58,71,91,115],"in":[10,26,105,116],"underwater":[11,19,43,118],"environments":[12],"is":[13,24,50,75,83,120],"proposed.":[14],"For":[15],"goal,":[17],"zero":[20,44],"moment":[21,45],"point":[22,46],"(Uzmp)":[23],"proposed":[25,104],"order":[27],"to":[28,52],"generate":[29],"trajectory":[31],"centre":[34],"mass":[37],"robot.":[40],"Also,":[41],"auxiliary":[47],"(Uzmp":[48],"aux.)":[49],"employed":[51],"stabilize":[53],"balance":[55],"before":[59],"it":[60],"undergoes":[61],"any":[62],"external":[63],"perturbations.":[64],"The":[65,94],"concept":[66],"demonstration":[67],"with":[72],"hydraulic":[73],"actuators":[74],"developed.":[76],"Moreover,":[77],"control":[79],"that":[80,102],"was":[81],"used":[82],"described":[84],"and":[85,108],"hydrodynamic":[87],"variables":[88],"are":[92,103],"determined.":[93],"results":[95],"demonstrate":[96],"validity":[98],"concepts":[101],"article,":[107],"an":[117],"environment":[119],"successfully":[121],"demonstrated.":[122]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}