{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,12]],"date-time":"2023-10-12T21:38:34Z","timestamp":1697146714814},"reference-count":14,"publisher":"World Scientific Pub Co Pte Lt","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2014,6]]},"abstract":"<jats:p> Most of current biped robots are active walking platforms. Though they have strong locomotion ability and good adaptability to environments, they have a lot of degrees of freedom (DoFs) and hence result in complex control and high energy consumption. On the other hand, passive or semi-passive walking robots require less DoFs and energy, but their walking capability and robustness are poor. To overcome these shortcomings, we have developed a novel active biped walking robot with only six DoFs. The robot is built with six 1-DoF joint modules and two wheels as the feet. It achieves locomotion in special gaits different from those of traditional biped robots. In this paper, this novel biped robot is introduced, four walking gaits are proposed, the criterion of stable walking is addressed and analyzed, and walking patterns and motion planning are presented. Experiments are carried out to verify the locomotion function, the effectiveness of the presented gaits and to illustrate the features of this novel biped robot. It has been shown that biped active walking may be achieved with only a few DoFs and simple kinematic configuration. <\/jats:p>","DOI":"10.1142\/s0219843614500145","type":"journal-article","created":{"date-parts":[[2014,4,23]],"date-time":"2014-04-23T22:14:25Z","timestamp":1398291265000},"page":"1450014","source":"Crossref","is-referenced-by-count":3,"title":["Bibot-U6: A Novel 6-DoF Biped Active Walking Robot - Modeling, Planning and Control"],"prefix":"10.1142","volume":"11","author":[{"given":"Xuefeng","family":"Zhou","sequence":"first","affiliation":[{"name":"Robotics and Automation Team, Guangdong Institute of Automation, Guangzhou, Guangdong, 510070, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yisheng","family":"Guan","sequence":"additional","affiliation":[{"name":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haifei","family":"Zhu","sequence":"additional","affiliation":[{"name":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenqiang","family":"Wu","sequence":"additional","affiliation":[{"name":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Chen","sequence":"additional","affiliation":[{"name":"Biomimetic and Intelligent Robotics Laboratory, School of Mechanical and Automotive Engineering, Guangdong University of Technology, Guangzhou, Guangdong, 510006, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Computing Science, University of Alberta, Edmonton, AB, T6G 2E8, Canada"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuli","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Electronic and Information Engineering, South China University of Technology, Guangzhou, Guangdong, 510640, P. R. China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2014,7,17]]},"reference":[{"key":"rf5","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-005-0726-x"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067561"},{"key":"rf8","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900206"},{"key":"rf9","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"rf10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499801701202"},{"key":"rf13","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066376"},{"key":"rf14","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000083"},{"key":"rf15","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2004.832811"},{"key":"rf24","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.04.017"},{"key":"rf25","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2005.848299"},{"key":"rf26","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2010.2085009"},{"key":"rf27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5"},{"key":"rf28","doi-asserted-by":"publisher","DOI":"10.1109\/70.880802"},{"key":"rf30","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574712000598"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843614500145","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T22:02:06Z","timestamp":1565128926000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843614500145"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,6]]},"references-count":14,"journal-issue":{"issue":"02","published-online":{"date-parts":[[2014,7,17]]},"published-print":{"date-parts":[[2014,6]]}},"alternative-id":["10.1142\/S0219843614500145"],"URL":"https:\/\/doi.org\/10.1142\/s0219843614500145","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,6]]}}}