{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,7]],"date-time":"2026-02-07T23:48:17Z","timestamp":1770508097116,"version":"3.49.0"},"reference-count":30,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6614,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Walking vehicles have the potential to emulate the superior off\u2010road mobility of biological systems. However, it is important to make the walking machine terrain adaptive and versatile, and to minimize man's role as an operator in order to realize this potential. Terrain adaptive locomotion involves intelligent foothold selection and the control of gait to produce the desired motion. This requires a departure from the idealized, structured stepping patterns for statically stable gaits which have been the object of considerable research. A modified<jats:italic>wave gait<\/jats:italic>is used to demonstrate that it is possible for the vehicle velocity to be varied continuously in accordance with higher level commands even with irregular, asymmetric, and changing support patterns, A varying duty factor is employed to enable optimal leg cycling frequencies. Implementation of gait control algorithms and results from a computer simulation are also presented.<\/jats:p>","DOI":"10.1002\/rob.4620060105","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T08:46:57Z","timestamp":1183711617000},"page":"49-76","source":"Crossref","is-referenced-by-count":42,"title":["Adaptive gait control for a walking robot"],"prefix":"10.1002","volume":"6","author":[{"given":"Vijay R.","family":"Kumar","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kenneth J.","family":"Waldron","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"Introduction to Terrain Vehicle Systems","author":"Bekker M. G.","year":"1969"},{"key":"e_1_2_1_3_2","volume-title":"Advances in Automation and Robotics","author":"McGhee R. B.","year":"1984"},{"key":"e_1_2_1_4_2","series-title":"Fll. NATO ASI Series","volume-title":"Robotics and Artificial Intelligence","author":"Giralt G.","year":"1984"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(81)90047-1"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300210"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"J. J.Kessis J. P.Rambaut J.Penne R.Wood andN.Mattar \u201cHexapod Walking Robots with Artificial Intelligence Capabilities.\u201d Proc. Theory and Practice of Robots and Manipulators 5th CISM\u2010IFToMM Symp. Warsaw Poland A. Morecki G. Bianchi A and K. Kedzior Eds. 1984 pp.395\u2013401.","DOI":"10.1007\/978-1-4615-9882-4_41"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90090-4"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.4271\/690191"},{"key":"e_1_2_1_10_2","first-page":"9","volume-title":"Integrated Walking Robot Development","author":"Okhotsimski D. E.","year":"1977"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100105"},{"key":"e_1_2_1_12_2","volume-title":"Legged Robots that Balance","author":"Raibert M. H.","year":"1985"},{"key":"e_1_2_1_13_2","first-page":"12","article-title":"Odex 1: The First Functionoid","volume":"5","author":"Russell M.","year":"1983","journal-title":"Robotics Age"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300203"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300204"},{"key":"e_1_2_1_16_2","doi-asserted-by":"crossref","unstructured":"R.Bhatt D.Gaw andA.Meystel \u201cA Real\u2010Time Guidance System for an Autonomous Vehicle \u201d IEEE Int. Conf on Robotics and Automation. Raleigh NC 1987 pp.1785\u20131791.","DOI":"10.1109\/ROBOT.1987.1087769"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"E.Koch C.Yeh G.Hillel A.Meystel andC.Isik \u201cSimulation of Path Planning for a System with Vision and Map Updating \u201d IEEE Int. Conf on Robotics and Automation. St. Louis 1985 pp.146\u2013160.","DOI":"10.1109\/ROBOT.1985.1087313"},{"key":"e_1_2_1_18_2","unstructured":"G.Giralt R.Sobek andR.Chatila \u201cA Multi\u2010Level Planning and Navigation System for a Mobile Robot \u201d Proc. 6th IJCAI Vol. 1 Tokyo Japan 1979."},{"key":"e_1_2_1_19_2","unstructured":"V.Kumar \u201cMotion Planning for Legged Locomotion Systems on Uneven Terrain \u201d Ph.D. dissertation. The Ohio State University Columbus OH 1987."},{"key":"e_1_2_1_20_2","unstructured":"A. M.Thompson \u201cThe Navigation System of the JPL Robot \u201d Proc. 5th IJCAI. Cambridge MA 1977 pp.749\u2013757."},{"key":"e_1_2_1_21_2","first-page":"26","volume-title":"Force Distribution in Walking Vehicles","author":"Kumar V.","year":"1988"},{"key":"e_1_2_1_22_2","unstructured":"V.Kumar andK. J.Waldron \u201cMotion Planning for Legged Locomotion Systems on Uneven Terrain \u201d to be submitted for publication (1988)."},{"key":"e_1_2_1_23_2","unstructured":"S.Kwak \u201cA Computer Simulation Study of a Free Gait Motion. Coordination Algorithms for Rough\u2010Terrain Locomotion by a Hexapod Walking Machine.\u201d Ph.D. Dissertation. The Ohio State University Columbus OH 1986."},{"key":"e_1_2_1_24_2","unstructured":"W.Lee andD. E.Orin \u201cOmnidirectional Control of a Multilegged Robot Vehicle using Periodic Gaits \u201d Proc. ASME Int. Computers in Engineering Conf. 1985."},{"key":"e_1_2_1_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310180"},{"key":"e_1_2_1_26_2","volume-title":"Guidance and Actuation Techniques for an Adaptively Controlled Vehicle","author":"Patterson M. R.","year":"1983"},{"key":"e_1_2_1_27_2","unstructured":"E. I.Kugushev andV. S.Jaroshevksi \u201cProblems of Selecting a Gait for an Integrated Locomotion Robot \u201d Proc. 4th IJCAI. Thilisi Georgian SSR USSR 1975 pp.789\u2013793."},{"key":"e_1_2_1_28_2","unstructured":"S. M.Song \u201cKinematic Optimal Design of a Six Legged Walking Machine \u201d Ph.D. dissertation The Ohio State University Columbus OH 1984."},{"key":"e_1_2_1_29_2","unstructured":"D. M.Zuk andM. L.Dell' Eva \u201c3\u2010D Vision System for the Adaptive Suspension Vehicle \u201d Final Report Environmental Research Institute of Michigan 1983."},{"key":"e_1_2_1_30_2","series-title":"7th CISM\u2010IFToMM Symp.","first-page":"37","volume-title":"Gait Analysis for Walking Vehicles for Omnidirectional Locomotion on Uneven Terrain","author":"Kumar V.","year":"1988"},{"key":"e_1_2_1_31_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300211"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620060105","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620060105","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:13:14Z","timestamp":1737184394000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620060105"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,2]]},"references-count":30,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1989,2]]}},"alternative-id":["10.1002\/rob.4620060105"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620060105","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,2]]}}}