{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,1]],"date-time":"2026-10-01T04:49:18Z","timestamp":1790830158069,"version":"4.1.0"},"reference-count":34,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","license":[{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"funder":[{"name":"National Key R&amp;D Program of China","award":["2020YFB1313003"],"award-info":[{"award-number":["2020YFB1313003"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2025]]},"DOI":"10.1109\/tro.2025.3543262","type":"journal-article","created":{"date-parts":[[2025,2,18]],"date-time":"2025-02-18T13:27:38Z","timestamp":1739885258000},"page":"2014-2030","source":"Crossref","is-referenced-by-count":5,"title":["A Differential-Mechanism-Based Leg Configuration Balances the Load and Dynamic Contribution for All Actuators of the Quadruped Robot"],"prefix":"10.1109","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1642-6252","authenticated-orcid":false,"given":"Zeyu","family":"Wang","sequence":"first","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3697-2664","authenticated-orcid":false,"given":"Wenchuan","family":"Jia","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8019-6765","authenticated-orcid":false,"given":"Yi","family":"Sun","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0001-5366-9838","authenticated-orcid":false,"given":"Tianxu","family":"Bao","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0008-7293-4087","authenticated-orcid":false,"given":"Zihan","family":"Ding","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-2002-6893","authenticated-orcid":false,"given":"Qi","family":"Chen","sequence":"additional","affiliation":[{"name":"Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/iros.2016.7758092"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1142\/9789814415958_0062"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942907"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1117\/12.2231105"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2017.8324814"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794436"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-KR-1001.01833"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-016-0047-1"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.5220\/0001650304780484"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2005.1570527"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2002.1013495"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2235078"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.asej.2020.11.005"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793865"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3943867"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1155\/2021\/6627043"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8794136"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.103814"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ARSO46408.2019.8948752"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-15-8458-9_19"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1155\/2020\/3234969"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1017\/S026357472000140X"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-019-1237-6"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2016.7558554"},{"key":"ref25","first-page":"103","article-title":"Structure design and kinematics analysis on the serial-parallel leg of quadruped robots","volume":"49","author":"Ma","year":"2021","journal-title":"J. South China Univ. Technol."},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2017.8206269"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2019.103695"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2021.3070124"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-031-08140-8_35"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594301"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594005"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104781"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1186\/s40648-016-0061-3"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1177\/0278364917694244"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx8\/8860\/10778592\/10891906.pdf?arnumber=10891906","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,24]],"date-time":"2025-03-24T15:13:43Z","timestamp":1742829223000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10891906\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025]]},"references-count":34,"URL":"https:\/\/doi.org\/10.1109\/tro.2025.3543262","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025]]}}}