{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T07:20:44Z","timestamp":1758266444606,"version":"3.41.2"},"reference-count":19,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2019,12,2]],"date-time":"2019-12-02T00:00:00Z","timestamp":1575244800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,12,2]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>In this research, the authors established a hierarchical motion planner for quadruped locomotion, which enables a parallel wheel-quadruped robot, the \u201cBIT-NAZA\u201d robot, to traverse rough three-dimensional (3-D) terrain.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Presented is a novel wheel-quadruped mobile robot with parallel driving mechanisms and based on the Stewart six degrees of freedom (6-DOF) platform. The task for traversing rough terrain is decomposed into two prospects: one is the configuration selection in terms of a local foothold cost map, in which the kinematic feasibility of parallel mechanism and terrain features are satisfied in heuristic search planning, and the other one is a whole-body controller to complete smooth and continuous motion transitions.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>A fan-shaped foot search region focuses on footholds with a strong possibility of becoming foot placement, simplifying computation complexity. A receding horizon avoids kinematic deadlock during the search process and improves robot adaptation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>Both simulation and experimental results validated the proposed scenario available and appropriate for quadruped locomotion to traverse challenging 3-D terrains.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This paper analyzes kinematic workspace for a parallel robot with 6-DOF Stewart mechanism on both body and foot. A fan-shaped foot search region enhances computation efficiency. Receding horizon broadens the preview search to decrease the possibility of deadlock minima resulting from terrain variation.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2019-0098","type":"journal-article","created":{"date-parts":[[2019,12,4]],"date-time":"2019-12-04T03:37:06Z","timestamp":1575430626000},"page":"267-279","source":"Crossref","is-referenced-by-count":3,"title":["Kinematics-searched framework for quadruped traversal in a parallel robot"],"prefix":"10.1108","volume":"47","author":[{"given":"Fei","family":"Guo","sequence":"first","affiliation":[]},{"given":"Shoukun","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Junzheng","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Huan","family":"Yu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"issue":"3","key":"key2020032310361598900_ref001","doi-asserted-by":"crossref","first-page":"2261","DOI":"10.1109\/LRA.2018.2794620","article-title":"Dynamic locomotion through online nonlinear motion optimization for quadrupedal robots","volume":"3","year":"2018","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"3","key":"key2020032310361598900_ref002","doi-asserted-by":"crossref","first-page":"337","DOI":"10.1002\/rob.21610","article-title":"Adaptive motion planning for autonomous rough terrain traversal with a walking robot","volume":"33","year":"2016","journal-title":"Journal of Field Robotics"},{"year":"2005","first-page":"629","article-title":"Footstep planning for the honda asimo humanoid","key":"key2020032310361598900_ref003"},{"year":"2014","first-page":"279","article-title":"Footstep planning on uneven terrain with mixed-integer convex optimization","key":"key2020032310361598900_ref004"},{"issue":"2","key":"key2020032310361598900_ref005","doi-asserted-by":"crossref","first-page":"115","DOI":"10.1177\/027836402760475333","article-title":"Free gaits for quadruped robots over irregular terrain","volume":"21","year":"2002","journal-title":"The International Journal of Robotics Research"},{"year":"2018","first-page":"1","article-title":"Robust rough-terrain locomotion with a quadrupedal robot","key":"key2020032310361598900_ref006"},{"key":"key2020032310361598900_ref007","first-page":"5371","article-title":"A combined potential function and graph search approach for free gait generation of quadruped robots","volume-title":"Proceedings 2012 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006","year":"2012"},{"issue":"11\/12","key":"key2020032310361598900_ref008","first-page":"1325","article-title":"Motion planning for legged robots on varied terrain","volume":"27","year":"2008","journal-title":"The International Journal of Robotics Research"},{"year":"2013","first-page":"6052","article-title":"Onboard perception-based trotting and crawling with the hydraulic quadruped robot (HyQ)","key":"key2020032310361598900_ref009"},{"year":"2017","first-page":"3372","article-title":"Model predictive control based framework for com control of a quadruped robot","key":"key2020032310361598900_ref010"},{"year":"2015","first-page":"195","article-title":"Inverse kinematics and reflex based controller for body-limb coordination of a salamander-like robot walking on uneven terrain","key":"key2020032310361598900_ref011"},{"year":"2006","first-page":"3003","article-title":"Quadruped robot obstacle negotiation via reinforcement learning","key":"key2020032310361598900_ref012"},{"issue":"12","key":"key2020032310361598900_ref013","doi-asserted-by":"crossref","first-page":"1036","DOI":"10.1016\/j.robot.2011.08.007","article-title":"Improving traversability of quadruped walking robots using body movement in 3d rough terrains","volume":"59","year":"2011","journal-title":"Robotics and Autonomous Systems"},{"issue":"3\/4","key":"key2020032310361598900_ref014","first-page":"271","article-title":"Body workspace of quadruped walking robot and its applicability in legged locomotion","volume":"67","year":"2012","journal-title":"Journal of Intelligent & Robotic Systems"},{"year":"2007","first-page":"1467","article-title":"A controller for the littledog quadruped walking on rough terrain","key":"key2020032310361598900_ref015"},{"issue":"2","key":"key2020032310361598900_ref016","doi-asserted-by":"crossref","first-page":"192","DOI":"10.1177\/0278364910388315","article-title":"Bounding on rough terrain with the little dog robot","volume":"30","year":"2011","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"key2020032310361598900_ref017","doi-asserted-by":"crossref","first-page":"333","DOI":"10.1017\/S0263574717000418","article-title":"Efficient motion generation for a six-legged robot walking on irregular terrain via integrated foothold selection and optimization-based whole-body planning","volume":"36","year":"2018","journal-title":"Robotica"},{"year":"2009","first-page":"2380","article-title":"Search-based planning for a legged robot over rough terrain","key":"key2020032310361598900_ref018"},{"issue":"9\/10","key":"key2020032310361598900_ref019","first-page":"1164","article-title":"Chomp: covariant hamiltonian optimization for motion planning","volume":"32","year":"2013","journal-title":"The International Journal of Robotics Research"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2019-0098\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2019-0098\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:06Z","timestamp":1753393146000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/47\/2\/267-279\/180688"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,12,2]]},"references-count":19,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2019,12,2]]}},"alternative-id":["10.1108\/IR-05-2019-0098"],"URL":"https:\/\/doi.org\/10.1108\/ir-05-2019-0098","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2019,12,2]]}}}