{"id":"https://openalex.org/W4385366428","doi":"https://doi.org/10.3390/s23156696","title":"Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance","display_name":"Task-Oriented Systematic Design of a Heavy-Duty Electrically Actuated Quadruped Robot with High Performance","publication_year":2023,"publication_date":"2023-07-26","ids":{"openalex":"https://openalex.org/W4385366428","doi":"https://doi.org/10.3390/s23156696","pmid":"https://pubmed.ncbi.nlm.nih.gov/37571479"},"language":"en","primary_location":{"id":"doi:10.3390/s23156696","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23156696","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6696/pdf?version=1691486083","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/1424-8220/23/15/6696/pdf?version=1691486083","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5022912016","display_name":"Junjun Liu","orcid":"https://orcid.org/0000-0002-6770-7356"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junjun Liu","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":"https://orcid.org/0000-0002-6770-7356","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100379686","display_name":"Zeyu Wang","orcid":"https://orcid.org/0000-0001-9335-2694"},"institutions":[{"id":"https://openalex.org/I113940042","display_name":"Shanghai University","ror":"https://ror.org/006teas31","country_code":"CN","type":"education","lineage":["https://openalex.org/I113940042"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyu Wang","raw_affiliation_strings":["School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China","institution_ids":["https://openalex.org/I113940042"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038718511","display_name":"Letian Qian","orcid":"https://orcid.org/0000-0003-3300-5409"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Letian Qian","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100804285","display_name":"Rong Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rong Luo","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026776980","display_name":"Xin Luo","orcid":"https://orcid.org/0000-0001-6999-1242"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xin Luo","raw_affiliation_strings":["State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China"],"raw_orcid":"https://orcid.org/0000-0001-6999-1242","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5026776980"],"corresponding_institution_ids":["https://openalex.org/I47720641"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.512,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.60069924,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"23","issue":"15","first_page":"6696","last_page":"6696"},"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":0.9710000157356262,"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/T12810","display_name":"Real-time simulation and control systems","score":0.9157999753952026,"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/robot","display_name":"Robot","score":0.5617673397064209},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5078838467597961},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5019042491912842},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.47220975160598755},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46907466650009155},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37559306621551514},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.356136292219162},{"id":"https://openalex.org/keywords/reliability-engineering","display_name":"Reliability engineering","score":0.18502146005630493},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12064820528030396}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5617673397064209},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5078838467597961},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5019042491912842},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.47220975160598755},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46907466650009155},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37559306621551514},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.356136292219162},{"id":"https://openalex.org/C200601418","wikidata":"https://www.wikidata.org/wiki/Q2193887","display_name":"Reliability engineering","level":1,"score":0.18502146005630493},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12064820528030396},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.3390/s23156696","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23156696","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6696/pdf?version=1691486083","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:37571479","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37571479","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:pubmedcentral.nih.gov:10422284","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/10422284","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC10422284/pdf/sensors-23-06696.pdf","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"},{"id":"pmh:oai:doaj.org/article:f283e331d659497ea3fdef230c11dd53","is_oa":true,"landing_page_url":"https://doaj.org/article/f283e331d659497ea3fdef230c11dd53","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 23, Iss 15, p 6696 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/1424-8220/23/15/6696/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/s23156696","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; Volume 23; Issue 15; Pages: 6696","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/s23156696","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3390/s23156696","pdf_url":"https://www.mdpi.com/1424-8220/23/15/6696/pdf?version=1691486083","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":0.8299999833106995,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[{"id":"https://openalex.org/G7492990069","display_name":null,"funder_award_id":"2019YFB1309502","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4385366428.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W643758835","https://openalex.org/W1833281916","https://openalex.org/W1975230295","https://openalex.org/W1979445726","https://openalex.org/W1980780059","https://openalex.org/W1981225035","https://openalex.org/W2018855542","https://openalex.org/W2094378040","https://openalex.org/W2100002984","https://openalex.org/W2161427949","https://openalex.org/W2295130897","https://openalex.org/W2415959992","https://openalex.org/W2531596132","https://openalex.org/W2535182465","https://openalex.org/W2561621263","https://openalex.org/W2593412525","https://openalex.org/W2764255492","https://openalex.org/W2807229064","https://openalex.org/W2909553221","https://openalex.org/W2957597579","https://openalex.org/W2968213087","https://openalex.org/W3047039444","https://openalex.org/W3101648076","https://openalex.org/W3112747312","https://openalex.org/W4200058106","https://openalex.org/W4205430897","https://openalex.org/W4206448857","https://openalex.org/W4285102619","https://openalex.org/W4303647912","https://openalex.org/W4312624212","https://openalex.org/W7053458540"],"related_works":["https://openalex.org/W2770593030","https://openalex.org/W1495042958","https://openalex.org/W2494338568","https://openalex.org/W4281727072","https://openalex.org/W2560201613","https://openalex.org/W2122678784","https://openalex.org/W3154990682","https://openalex.org/W2171975302","https://openalex.org/W2022352247","https://openalex.org/W2282510344"],"abstract_inverted_index":{"Recent":[0],"technological":[1],"progress":[2],"is":[3],"opening":[4],"up":[5],"practical":[6],"applications":[7],"for":[8,41,150,187,208],"quadruped":[9,46],"robots.":[10],"In":[11],"this":[12,67],"context,":[13],"comprehensive":[14],"performance":[15,35,163],"demands,":[16],"including":[17],"speed,":[18],"payload,":[19],"robustness,":[20],"terrain":[21],"adaptability,":[22],"endurance,":[23],"and":[24,56,86,104,124,146,155,166,194,201,239],"techno-economics,":[25],"are":[26,49],"increasing.":[27],"However,":[28],"design":[29,38,77,94,114,196,206],"conflicts":[30,200],"inevitably":[31],"exist":[32],"among":[33],"these":[34,109,214],"indicators,":[36],"highlighting":[37],"challenges,":[39],"especially":[40],"a":[42,71,87,92,126,139,161,178,183,204,218,223,233,241],"heavy-duty,":[43],"electrically":[44],"actuated":[45],"robots,":[47,82],"which":[48],"strongly":[50],"constrained":[51],"by":[52,108],"motor":[53,147],"torque":[54],"density":[55],"battery":[57],"energy":[58],"density.":[59],"Starting":[60],"from":[61],"task-specific":[62,173],"holistic":[63,179],"system":[64],"thinking,":[65],"in":[66,169,229],"paper,":[68],"we":[69,111,137,176,216],"present":[70],"novel":[72],"task-oriented":[73,128],"approach":[74],"to":[75,115,159,190],"the":[76,99,117,122,170,249,252,255],"of":[78,81,101,121,152,172,226,243,254],"such":[79],"kind":[80],"incorporating":[83],"hierarchical":[84],"optimization":[85,145,151],"control-in-the-loop":[88],"design,":[89],"while":[90],"following":[91],"structured":[93],"path":[95],"that":[96],"effectively":[97],"exploits":[98],"strengths":[100],"both":[102],"heuristic":[103,113],"computational":[105],"designs.":[106],"Guided":[107],"philosophies,":[110],"utilize":[112],"obtain":[116],"approximate":[118],"initial":[119],"form":[120],"prototype":[123,221,250],"propose":[125],"key":[127],"actuator":[129],"joint":[130,156],"configuration,":[131],"utilizing":[132],"commercially":[133],"available":[134],"components.":[135,174],"Subsequently,":[136],"build":[138],"step-wise":[140],"analytical":[141],"models":[142],"considering":[143],"trajectory":[144],"heat":[148],"constraints":[149],"leg":[153],"length":[154],"match":[157],"parameters":[158,197],"achieve":[160],"compact":[162],"requirement":[164],"envelope":[165],"minimize":[167],"redundancy":[168],"construction":[171],"Furthermore,":[175],"construct":[177],"simulation":[180],"platform":[181],"with":[182,232],"module":[184],"control":[185],"algorithm":[186],"typical":[188],"scenarios":[189],"evaluate":[191],"subsystem":[192,210],"results":[193],"adjust":[195],"iteratively,":[198],"balancing":[199],"eventually":[202],"achieving":[203,222],"reliable":[205],"specification":[207],"detailed":[209],"design.":[211],"Based":[212],"on":[213],"strategies,":[215],"develop":[217],"heavy-duty":[219],"electric":[220],"maximum":[224],"speed":[225],"2":[227,244],"m/s":[228],"trotting":[230],"gait":[231],"load":[234],"weighting":[235],"over":[236],"160":[237],"kg":[238],"enduring":[240],"period":[242],"h.":[245],"The":[246],"experiment":[247],"upon":[248],"verifies":[251],"efficiency":[253],"proposed":[256],"approach.":[257]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-12T08:23:45.883708","created_date":"2025-10-10T00:00:00"}