{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,5]],"date-time":"2025-10-05T21:52:19Z","timestamp":1759701139694},"reference-count":9,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5791,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1993,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, we investigate the crab gaits of a quadruped. Some important characteristics that simplify the analysis of crab gaits are presented, and several formulas for optimizing the longitudinal gait stability margin of a quadruped crab gait are derived by incorporating the <jats:italic>time weighting factor<\/jats:italic>. The analysis and implementation of the gait have been simplified by employing a <jats:italic>pseudo-world coordinate frame<\/jats:italic> as a reference frame for describing footholds and vehicle's motion. We also suggest a unique gait which optimizes gait stability margin according to the range of crab angle. Finally, we consider the effects of variations of footholds on stability and maximum permissible stroke in <jats:italic>terms of support boundary angle<\/jats:italic>. The results derived in this paper contain previous works on the forward walking gait as a special case of the crab gait.<\/jats:p>","DOI":"10.1017\/s0263574700016106","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T09:16:04Z","timestamp":1236676564000},"page":"233-243","source":"Crossref","is-referenced-by-count":5,"title":["Basic characteristics and stability properties of quadruped crab gaits"],"prefix":"10.1017","volume":"11","author":[{"given":"Byungeui","family":"Min","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zeungnam","family":"Bien","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seungku","family":"Hwangt\u2020","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700016106_ref008","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300210"},{"key":"S0263574700016106_ref009","first-page":"2612","article-title":"Neural Computation for Adaptive Gait Control of the Quadruped over Rough Terrain","author":"Min","year":"1992","journal-title":"Proc. IEEE Int. Conf. on Robotics and Automation"},{"key":"S0263574700016106_ref004","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070208"},{"key":"S0263574700016106_ref002","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90090-4"},{"key":"S0263574700016106_ref001","doi-asserted-by":"crossref","first-page":"701","DOI":"10.1126\/science.150.3697.701","article-title":"Symmetric gaits of horses","volume":"150","author":"M.","year":"1965","journal-title":"Science"},{"key":"S0263574700016106_ref003","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600205"},{"key":"S0263574700016106_ref007","doi-asserted-by":"publisher","DOI":"10.1109\/70.88139"},{"key":"S0263574700016106_ref005","first-page":"37","article-title":"Gait analysis for walking machines for omni-directional locomotion on uneven terrain","author":"Kumar","year":"1988","journal-title":"Proceedings of the 7th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators"},{"key":"S0263574700016106_ref006","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1979.4310180"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700016106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T19:10:45Z","timestamp":1557947445000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700016106\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,5]]},"references-count":9,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1993,5]]}},"alternative-id":["S0263574700016106"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700016106","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1993,5]]}}}