{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T07:25:53Z","timestamp":1782372353580,"version":"3.54.5"},"reference-count":31,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2022,4,6]],"date-time":"2022-04-06T00:00:00Z","timestamp":1649203200000},"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":[[2022,6,30]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>Aiming at the problem that quadruped crawling robot is easy to collide and overturn when facing obstacles and bulges in the process of complex slope movement, this paper aims to propose an obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>First, considering the problem of low uniformity of feature points in terrain recognition images under complex slopes, which leads to too long feature point extraction time, an improved ORB (Oriented FAST and Rotated BRIEF) feature point extraction method is proposed; second, when the robot avoids obstacles or climbs over bumps, aiming at the problem that the robustness of a single step cannot satisfy the above two motions at the same time, the crawling gait is planned according to the complex slope terrain, and a robot obstacle avoidance gait planning based on the artificial potential field method is proposed. Finally, the slope walking experiment is carried out in the Robot Operating System.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed method provides a solution for the efficient walking of robot under slope. The experimental results show that the extraction time of the improved ORB extraction algorithm is 12.61% less than the original ORB extraction algorithm. The vibration amplitude of the robot\u2019s centroid motion curve is significantly reduced, and the contact force is reduced by 7.76%. The time it takes for the foot contact force to stabilize has been shortened by 0.25\u2009s. This fact is verified by simulation and test.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The method proposed in this paper uses the improved feature point recognition algorithm and obstacle avoidance gait planning to realize the efficient walking of quadruped crawling robot on the slope. The walking stability of quadruped crawling robot is tested by prototype.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-11-2021-0273","type":"journal-article","created":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T08:57:53Z","timestamp":1649149073000},"page":"1008-1021","source":"Crossref","is-referenced-by-count":7,"title":["Research on obstacle avoidance gait planning of quadruped crawling robot based on slope terrain recognition"],"prefix":"10.1108","volume":"49","author":[{"given":"Peng","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Chunxiao","family":"Song","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Renquan","family":"Dong","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peng","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuang","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2022,4,6]]},"reference":[{"issue":"2","key":"key2022062914060469300_ref001","first-page":"2017","article-title":"Development of quadruped walking robots: a review","volume":"12","year":"2020","journal-title":"Ain Shams Engineering Journal"},{"key":"key2022062914060469300_ref02a","doi-asserted-by":"crossref","first-page":"15","DOI":"10.3389\/fnbot.2019.00015","article-title":"Mobile robot path planning based on ant colony algorithm with A* heuristic method","volume":"13","year":"2019","journal-title":"Front in Neurorobot"},{"key":"key2022062914060469300_ref002","first-page":"156","article-title":"Research on motion planning and control of quadruped robot on slope","volume":"47","year":"2018","journal-title":"Electrical and Automation"},{"issue":"3","key":"key2022062914060469300_ref003","doi-asserted-by":"crossref","first-page":"233","DOI":"10.1177\/1059712319890692","article-title":"Dynamic-free robust adaptive intelligent fault-tolerant controller design with prescribed performance for stable motion of quadruped robots","volume":"29","year":"2021","journal-title":"Adaptive Behavior"},{"issue":"5","key":"key2022062914060469300_ref004","doi-asserted-by":"crossref","first-page":"32","DOI":"10.25165\/j.ijabe.20201305.5769","article-title":"Design of bionic goat quadruped robot mechanism and walking gait planning","volume":"13","year":"2020","journal-title":"International Journal of Agricultural and Biological Engineering"},{"key":"key2022062914060469300_ref05a","first-page":"2","article-title":"Research on dynamic obstacle-avoidance of autonomous robot based on improved artificial potential field method","volume-title":"China, Zhengzhou: School of Electrical Engineering","year":"2020"},{"issue":"2","key":"key2022062914060469300_ref005","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1007\/s00034-019-01173-3","article-title":"Unsupervised learning-based depth estimation-aided visual SLAM approach","volume":"39","year":"2020","journal-title":"Circuits, Systems, and Signal Processing"},{"issue":"4","key":"key2022062914060469300_ref006","doi-asserted-by":"crossref","first-page":"972","DOI":"10.3390\/s18040972","article-title":"Correction of visual perception based on Neuro-Fuzzy learning for the humanoid robot TEO","volume":"18","year":"2018","journal-title":"Sensors"},{"key":"key2022062914060469300_ref007","first-page":"400","article-title":"An improved robot's localization and mapping method based on ORB-SLAM 17th IEEE\/ACIS international conference on software engineering","year":"2017"},{"issue":"3","key":"key2022062914060469300_ref008","first-page":"298","article-title":"Mobile robot path planning based on improved ant colony algorithm","volume":"13","year":"2021","journal-title":"Journal of Nanjing University of Information Science & Technology"},{"issue":"18","key":"key2022062914060469300_ref08a","first-page":"38","article-title":"Research review of path planning algorithms for mobile robots","volume":"57","year":"2021","journal-title":"Computer Engineering and Applications"},{"issue":"5","key":"key2022062914060469300_ref009","article-title":"Field terrain recognition based on extreme learning theory using wavelet and texture features","volume":"10","year":"2018","journal-title":"Advances in Mechanical Engineering"},{"key":"key2022062914060469300_ref010","first-page":"6350","article-title":"A review of quadruped robots and environment perception","volume-title":"In 2016 35th Chinese Control Conference (CCC) IEEE","year":"2016"},{"issue":"5","key":"key2022062914060469300_ref011","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1109\/TRO.2017.2705103","article-title":"ORB-SLAM2: an open-source slam system for monocular stereo and RGB-D cameras","volume":"33","year":"2017","journal-title":"IEEE Transactions on Robotics"},{"key":"key2022062914060469300_ref012","first-page":"1","article-title":"Stable balance adjustment structure of the quadruped robot based on the bionic lateral swing posture","volume":"2020","year":"2020","journal-title":"MATHEMATICAL PROBLEMS iN Engineering"},{"issue":"1","key":"key2022062914060469300_ref013","first-page":"1","article-title":"Obstacle avoidance of mobile robots using modified artificial potential field algorithm","volume":"2019","year":"2019","journal-title":"EURASIP Journal on Wireless Communications and Networking"},{"key":"key2022062914060469300_ref014","first-page":"2564","article-title":"ORB: an efficient alternative to SIFT or SURF","volume-title":"in 2011 International Conference on Computer Vision","year":"2011"},{"key":"key2022062914060469300_ref023","first-page":"25","volume-title":"Research on Gait Planning and Walking Control of Quadruped Crawling Robot on Slope","year":"2020"},{"key":"key2022062914060469300_ref015","first-page":"55","article-title":"SURF: summarizer of user reviews feedback","volume-title":"in 39th IEEE International Conference on Software Engineering (ICSE 2017)","year":"2017"},{"issue":"2","key":"key2022062914060469300_ref015a","first-page":"550","article-title":"AGV optimal path plan-ning based on improved genetic algorithm","volume":"41","year":"2020","journal-title":"Computer Engineering and Design"},{"issue":"4","key":"key2022062914060469300_ref016","first-page":"24","article-title":"Fast and flexible multilegged locomotion using learned centroidal dynamics","volume":"39","year":"2020","journal-title":"Acm Transactions on Graphics"},{"key":"key2022062914060469300_ref017","first-page":"12","article-title":"Gait planning and control of quadruped crawling robot on a slope","volume":"471","year":"2020","journal-title":"Industrial Robot"},{"issue":"12","key":"key2022062914060469300_ref018a","first-page":"3508","article-title":"Path planning of mobile robot based on improved artificial potential field method","volume":"40","year":"2020","journal-title":"Journal of Computer Applications"},{"key":"key2022062914060469300_ref018","doi-asserted-by":"crossref","first-page":"135513","DOI":"10.1109\/ACCESS.2020.3011211","article-title":"Path planning method with improved artificial potential field \u2013 a reinforcement learning perspective","volume":"8","year":"2020","journal-title":"IEEE Access"},{"issue":"2","key":"key2022062914060469300_ref019","first-page":"232","article-title":"Improved ORB feature extraction algorithm based on quadtree encoding","volume":"45","year":"2018","journal-title":"Comput. Sci"},{"issue":"5","key":"key2022062914060469300_ref020","doi-asserted-by":"crossref","first-page":"1176","DOI":"10.1002\/cae.22377","article-title":"Simulation for senior undergraduate education of robot engineering based on webots","volume":"29","year":"2021","journal-title":"Computer Applications in Engineering Education"},{"issue":"3","key":"key2022062914060469300_ref024","first-page":"1","article-title":"A free gait controller designed for a heavy load hexapod robot","volume":"11","year":"2019","journal-title":"Advances in Mechanical Engineering"},{"issue":"S2","key":"key2022062914060469300_ref024a","first-page":"66","article-title":"The method of mobile robot path planning based on improved artificial potential field","volume":"37","year":"2020","journal-title":"Application Research of Computers"},{"key":"key2022062914060469300_ref021","first-page":"1150","article-title":"Practical techniques research on climbing the steep slope of quadruped robots","volume-title":"IEEE 9th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems(CYBER)","year":"2019"},{"issue":"2","key":"key2022062914060469300_ref022","doi-asserted-by":"crossref","first-page":"653","DOI":"10.1007\/s13369-019-04135-8","article-title":"Walking model of Jansen mechanism-based quadruped robot and application to obstacle avoidance","volume":"45","year":"2020","journal-title":"Arabian Journal for Science and Engineering"},{"key":"key2022062914060469300_ref025","doi-asserted-by":"crossref","first-page":"177651","DOI":"10.1109\/ACCESS.2019.2958320","article-title":"Static gait planning method for quadruped robot walking on unknown rough terrain","volume":"7","year":"2019","journal-title":"IEEE Access"}],"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-11-2021-0273\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-11-2021-0273\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:40:27Z","timestamp":1753393227000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/49\/5\/1008-1021\/175786"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,4,6]]},"references-count":31,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2022,4,6]]},"published-print":{"date-parts":[[2022,6,30]]}},"alternative-id":["10.1108\/IR-11-2021-0273"],"URL":"https:\/\/doi.org\/10.1108\/ir-11-2021-0273","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"0143-991X","type":"print"}],"subject":[],"published":{"date-parts":[[2022,4,6]]}}}