{"id":"https://openalex.org/W4317885468","doi":"https://doi.org/10.3390/robotics12010017","title":"Based on the Foot\u2013Ground Contact Mechanics Model and Velocity Planning Buffer Control","display_name":"Based on the Foot\u2013Ground Contact Mechanics Model and Velocity Planning Buffer Control","publication_year":2023,"publication_date":"2023-01-23","ids":{"openalex":"https://openalex.org/W4317885468","doi":"https://doi.org/10.3390/robotics12010017"},"language":"en","primary_location":{"id":"doi:10.3390/robotics12010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010017","pdf_url":"https://www.mdpi.com/2218-6581/12/1/17/pdf?version=1675939637","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/2218-6581/12/1/17/pdf?version=1675939637","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102905597","display_name":"Boxuan Zhang","orcid":"https://orcid.org/0000-0001-5673-8774"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boxuan Zhang","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101473735","display_name":"Lichao Wang","orcid":"https://orcid.org/0000-0003-0510-1612"},"institutions":[{"id":"https://openalex.org/I4210141966","display_name":"China Academy of Railway Sciences","ror":"https://ror.org/051wv2j09","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210141966"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lichao Wang","raw_affiliation_strings":["Locomotive and Car Research Institute, China Academy of Railway Sciences, Beijing 100081, China"],"affiliations":[{"raw_affiliation_string":"Locomotive and Car Research Institute, China Academy of Railway Sciences, Beijing 100081, China","institution_ids":["https://openalex.org/I4210141966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032296838","display_name":"Yangwei Wang","orcid":"https://orcid.org/0000-0003-2947-7024"},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yangwei Wang","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China","institution_ids":["https://openalex.org/I47689461"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081519351","display_name":"Zehao Yuan","orcid":null},"institutions":[{"id":"https://openalex.org/I47689461","display_name":"Northeast Forestry University","ror":"https://ror.org/02yxnh564","country_code":"CN","type":"education","lineage":["https://openalex.org/I47689461"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zehao Yuan","raw_affiliation_strings":["Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China","institution_ids":["https://openalex.org/I47689461"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032296838"],"corresponding_institution_ids":["https://openalex.org/I47689461"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":0.5396,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.59314786,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"12","issue":"1","first_page":"17","last_page":"17"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9952999949455261,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9952999949455261,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9911999702453613,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9836000204086304,"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":0.6862858533859253},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5778066515922546},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5504407286643982},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.4895661771297455},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.47309020161628723},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4556986093521118},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.42960113286972046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4158203601837158},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.34686899185180664},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3253924250602722},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23880022764205933},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14251187443733215},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13289740681648254},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10170596837997437}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6862858533859253},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5778066515922546},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5504407286643982},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.4895661771297455},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.47309020161628723},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4556986093521118},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.42960113286972046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4158203601837158},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.34686899185180664},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3253924250602722},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23880022764205933},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14251187443733215},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13289740681648254},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10170596837997437},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics12010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010017","pdf_url":"https://www.mdpi.com/2218-6581/12/1/17/pdf?version=1675939637","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:e870965aebf741ab81fea33b2171b3c9","is_oa":true,"landing_page_url":"https://doaj.org/article/e870965aebf741ab81fea33b2171b3c9","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","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 12, Iss 1, p 17 (2023)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/12/1/17/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics12010017","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 12; Issue 1; Pages: 17","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics12010017","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics12010017","pdf_url":"https://www.mdpi.com/2218-6581/12/1/17/pdf?version=1675939637","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4317885468.pdf"},"referenced_works_count":6,"referenced_works":["https://openalex.org/W2747442116","https://openalex.org/W2984879732","https://openalex.org/W3013218245","https://openalex.org/W3045917204","https://openalex.org/W3130730630","https://openalex.org/W6998921813"],"related_works":["https://openalex.org/W1989791859","https://openalex.org/W2390829436","https://openalex.org/W1971289376","https://openalex.org/W2565094479","https://openalex.org/W602859758","https://openalex.org/W2379101322","https://openalex.org/W2726447019","https://openalex.org/W1992553864","https://openalex.org/W2157702526","https://openalex.org/W1487018804"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,66,73,224],"reduce":[3,67],"the":[4,7,54,61,64,68,75,84,94,103,110,113,119,128,131,151,180,184,195,209,226],"impact":[5,70,129,197],"of":[6,15,46,112,183,191,199,213],"leg":[8,47,99],"joint":[9,56,77],"motors":[10,78],"and":[11,25,48,72,79,89,100,102,116,144,156,164],"body":[12],"electric":[13],"devices":[14],"a":[16,36,43],"falling":[17],"robot,":[18],"active":[19],"flexible":[20],"control":[21,152],"based":[22,34],"on":[23,35,130],"force":[24,71,88,182,210],"velocity":[26,30,58,90,111,120,168,200,218],"is":[27,39,154,159],"proposed.":[28,40],"A":[29],"planning":[31,109,169,201,219],"buffer":[32,170,185,220],"method":[33,136],"virtual":[37,214],"model":[38,45,97,142,215],"We":[41],"established":[42],"mechanical":[44,96],"ground":[49,65],"contact.":[50],"Then,":[51,107],"we":[52],"controlled":[53],"knee":[55],"angular":[57],"change":[59],"after":[60],"robot":[62,132],"contacted":[63],"collision":[69],"protect":[74,225],"robot\u2019s":[76,114],"body\u2019s":[80],"internal":[81],"parts.":[82],"First,":[83],"relationship":[85],"between":[86,98],"contact":[87,95,123,181,196],"was":[91,105,124,133,172,187,202,206,222],"analyzed":[92],"through":[93],"ground,":[101],"target":[104],"determined.":[106],"by":[108,161],"thigh":[115],"hip":[117],"joint,":[118],"mutation":[121],"during":[122],"reduced":[125],"so":[126],"that":[127,179,190],"reduced.":[134],"This":[135],"can":[137],"avoid":[138],"complex":[139,145],"accurate":[140],"physics":[141],"building":[143],"torque":[146],"signal":[147],"interference":[148],"filtering":[149],"processing,":[150],"process":[153],"simple":[155],"its":[157],"effectiveness":[158],"verified":[160],"ADAMS":[162],"simulation":[163],"experimental":[165,175],"verification.":[166],"The":[167,217],"strategy":[171,186,221],"tested":[173],"in":[174],"studies":[176],"which":[177,205],"showed":[178],"0.671":[188],"times":[189],"no":[192],"buffer.":[193],"Additionally,":[194],"acceleration":[198],"1.5505":[203],"g,":[204],"less":[207],"than":[208],"1.7":[211],"g":[212],"control.":[216],"better":[223],"robot.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2}],"updated_date":"2026-04-18T07:56:08.524223","created_date":"2025-10-10T00:00:00"}