{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,8]],"date-time":"2025-11-08T13:15:11Z","timestamp":1762607711832,"version":"3.41.2"},"reference-count":33,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2019,10,23]],"date-time":"2019-10-23T00:00:00Z","timestamp":1571788800000},"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":[[2019,10,23]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to put forward a nvew reconfigurable multi-mode walking-rolling robot based on the single-loop closed-chain four-bar mechanism, and the robot can be changed to different modes according to the terrain.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>Based on the topological analysis, singularity analysis, feasibility analysis, gait analysis and the motion strategy based on motor time-sharing control, the paper theoretically verified that the robot can switch between the four motion modes.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The robot integrates four-bar walking, self-deforming and four-bar and six-bar rolling modes. A series of simulation and prototype experiment results are presented to verify the feasibility of multiple motion modes of the robot.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The work presented in this paper provides a good theoretical basis for further exploration of multiple mode mobile robots. It is an attempt to design the multi-mode mobile robot based on single loop kinematotropic mechanisms. It is also a kind of exploration of the new unknown movement law.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2019-0106","type":"journal-article","created":{"date-parts":[[2019,10,25]],"date-time":"2019-10-25T09:22:35Z","timestamp":1571995355000},"page":"293-311","source":"Crossref","is-referenced-by-count":13,"title":["A reconfigurable multi-mode walking-rolling robot based on motor time-sharing control"],"prefix":"10.1108","volume":"47","author":[{"given":"Xiangyu","family":"Liu","sequence":"first","affiliation":[]},{"given":"Chunyan","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Cong","family":"Ni","sequence":"additional","affiliation":[]},{"given":"Chenhui","family":"Lu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2020032310361775200_ref001","first-page":"5706","article-title":"Development of quadruped walking robot with spherical shell-mechanical design for rotational locomotion","volume-title":"IEEE\/RSJ 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