{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,12]],"date-time":"2026-03-12T06:24:09Z","timestamp":1773296649965,"version":"3.50.1"},"reference-count":7,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":5546,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:p>A method of planning crab gaits for a quadruped walking robot is proposed. In the conventional gait study, one of the major concerns has been the foothold selection based on a prescribed body motion, but, in the paper, we consider the body motion planning problem under the assumption that a set of irregular footholds is given, and propose a hierarchical strategy. The strategy can be divided into three stages: first, a feasible range of the body movement is sought under the kinematic limit and the stability constraint. Next, a swing-leg sequence is selected with the aid of a proposed measure of traversability. Finally, an optimal sequence of the body motion is planned by the proposed procedure of otpimizing the gait stability margin. To verify the efficiency of the proposed method, simulation results are presented.<\/jats:p>","DOI":"10.1017\/s0263574700018154","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:14:15Z","timestamp":1236690855000},"page":"23-31","source":"Crossref","is-referenced-by-count":20,"title":["A hierarchical strategy for planning crab gaits of a quadruped walking robot"],"prefix":"10.1017","volume":"12","author":[{"given":"Yun Jung","family":"Lee","sequence":"first","affiliation":[]},{"given":"Zeungnam","family":"Bien","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018154_ref006","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070208"},{"key":"S0263574700018154_ref004","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600205"},{"key":"S0263574700018154_ref003","unstructured":"3. Pal P.K. and Jayarajan K. , \u201cGeneration of Free Gait-A Graph Search Approach,\u201d IEEE Trans. Robotics Automat. RA-7, No. 3, 299\u2013305 (1991)."},{"key":"S0263574700018154_ref002","doi-asserted-by":"crossref","first-page":"113","DOI":"10.1177\/027836498400300210","article-title":"A Study of Design and Control of a Quadruped Walking Vehicle","volume":"3","author":"Rirose","year":"1984","journal-title":"Int..J. Robotics Res."},{"key":"S0263574700018154_ref007","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060105"},{"key":"S0263574700018154_ref005","doi-asserted-by":"publisher","DOI":"10.1016\/0025-5564(68)90090-4"},{"key":"S0263574700018154_ref001","unstructured":"1. Mcghee R.B. and Iswandhi G.I. , \u201cAdaptive Locomotion of a Multilegged Robot over Rough Terrain\u201d IEEE Trans. Syst. Man. Cybern. SMC-9, No. 4, 176\u2013182 (1979)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018154","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T20:08:53Z","timestamp":1557950933000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018154\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":7,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["S0263574700018154"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018154","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}