{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:10:26Z","timestamp":1737187826147,"version":"3.33.0"},"reference-count":15,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5276,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,10]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article studies the forward kinematics of walking machines with pantograph legs. The walking machine is supported by three legs and each leg has 3 degrees of freedom (dof). Because the body has 6 dof motion, only 6 joint variables among the 9 are independent. Thus, there are 84 possible ways to select the 6 independent joint variables. It is shown that the complexity of the forward position solutions is very much dependent on the selection of independent joints. In the category of<jats:italic>3:2:1<\/jats:italic>(the 3 numbers denote the number of independent joints at each of the supporting legs), all 54 combinations give closed\u2010form solutions. Among the 27 combinations of<jats:italic>category 2:2:2<\/jats:italic>, 10 possess closed\u2010form solutions, 16 yield to higher\u2010order polynomials, and 1 gives no solutions. The 3 combinations of<jats:italic>category 3:3:0<\/jats:italic>give no solutions. The results are useful to control and simulation of walking machines and other parallel systems consisting of pantograph subchains such as parallel manipulators, multifingered hands, and multiply coordinated manipulators. \u00a9 1992 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620090706","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:13:48Z","timestamp":1183727628000},"page":"955-971","source":"Crossref","is-referenced-by-count":1,"title":["Forward kinematics of walking machines with pantograph legs based on selections of independent joints"],"prefix":"10.1002","volume":"9","author":[{"given":"Chang\u2010De","family":"Zhang","sequence":"first","affiliation":[]},{"given":"Shin\u2010Min","family":"Song","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Introduction to Robotics: Mechanics & Control","year":"1986","author":"Craig J. 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M.Song \u201cForward kinematics of a class of parallel (Stewart) platforms with closed form solutions \u201d Proc. of IEEE International Conf. on Robotics and Automation Sacramento CA April1991 pp.2676\u20132681.","DOI":"10.1109\/ROBOT.1991.132034"},{"key":"e_1_2_1_12_2","unstructured":"Z.ShiandD.Gan \u201cKinematics of six\u2010legged vehicle on irregular terrain \u201d Proc. of International Conf. on Advanced Robotics Tokyo Japan 1985 pp.389\u2013396."},{"key":"e_1_2_1_13_2","first-page":"131","article-title":"A study of instantaneous kinematics of walking machines","volume":"5","author":"Lee J. K.","year":"1990","journal-title":"Int. J. Robot. Auto."},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1016\/0022-4898(89)90037-2"},{"volume-title":"Machines That Walk\u2014The Adaptive Suspension Vehicle","year":"1989","author":"Song S. M.","key":"e_1_2_1_15_2"},{"volume-title":"Theory of Equations","year":"1948","author":"Uspenski J. V.","key":"e_1_2_1_16_2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090706","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090706","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:33:30Z","timestamp":1737185610000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090706"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,10]]},"references-count":15,"journal-issue":{"issue":"7","published-print":{"date-parts":[[1992,10]]}},"alternative-id":["10.1002\/rob.4620090706"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090706","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1992,10]]}}}