{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,4,6]],"date-time":"2024-04-06T18:34:47Z","timestamp":1712428487034},"reference-count":4,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4877,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1995,11]]},"abstract":"Summary<\/jats:title>The analysis of the gait mode is an important step for constructing a walking robot. In this study an optimal turning gait of a four-legged walking robot is proposed, which maximizes walking speed keeping walking stability larger than a certain required value. To obtain an optimal gait algorithm, for body trajectory of the robot, maximum walking speed, feasible gait modes and stability margin are analyzed for a quadruped walking robot designed in this study. The proposed gait is sufficiently flexible, as to permit crab walking, turning walking and a pure rotational walking about a robot's geometric center. The validity of the proposed gait algorithm is confirmed by many simulations.<\/jats:p>","DOI":"10.1017\/s0263574700018634","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:12:28Z","timestamp":1236690748000},"page":"559-564","source":"Crossref","is-referenced-by-count":10,"title":["Optimal turning gait of a quadruped walking robot"],"prefix":"10.1017","volume":"13","author":[{"given":"D. J.","family":"Cho","sequence":"first","affiliation":[]},{"given":"J. H.","family":"Kim","sequence":"additional","affiliation":[]},{"given":"D. G.","family":"Gweon","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018634_ref004","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300210"},{"key":"S0263574700018634_ref001","volume-title":"Introduction to Terrain-Vehicle Systems","author":"Bekker","year":"1969"},{"key":"S0263574700018634_ref002","doi-asserted-by":"publisher","DOI":"10.1163\/156855386X00058"},{"key":"S0263574700018634_ref003","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1991.174725"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018634","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,13]],"date-time":"2019-05-13T20:24:27Z","timestamp":1557779067000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018634\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,11]]},"references-count":4,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1995,11]]}},"alternative-id":["S0263574700018634"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018634","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1995,11]]}}}