{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,23]],"date-time":"2026-01-23T16:34:47Z","timestamp":1769186087427,"version":"3.49.0"},"reference-count":38,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2022,3,16]],"date-time":"2022-03-16T00:00:00Z","timestamp":1647388800000},"content-version":"vor","delay-in-days":74,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2022,1,1]],"date-time":"2022-01-01T00:00:00Z","timestamp":1640995200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2022,1]]},"abstract":"<jats:p>The quadruped robot is subject to self and external interference during the running process. In this paper, in order to improve the stability of the quadruped robot, a disturbance suppression strategy based on the kinematic model and the virtual model is proposed. Through the whole\u2010body kinematics modeling of the body, the cause of the disturbance is analyzed. At the same time, two spring\u2010damping virtual elements are introduced on the body. The virtual force generated by the spring\u2010damping model is according to the displacement and speed of the CoM (center of mass) when the robot is moving. By simulating the tort gait of the robot, sorting out the data obtained from the experiment, and drawing a comparison curve with the experiment results of the no spring\u2010damping virtual element under the same conditions, it is proved that the method proposed in this paper has a significant effect on maintaining the dynamic stability of the body, and the actual trajectory is not different from the theoretical trajectory.<\/jats:p>","DOI":"10.1155\/2022\/4510678","type":"journal-article","created":{"date-parts":[[2022,3,16]],"date-time":"2022-03-16T18:05:14Z","timestamp":1647453914000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Suppression of Quadruped Robot Body Disturbance by Virtual Spring\u2010Damping Model"],"prefix":"10.1155","volume":"2022","author":[{"given":"JingYe","family":"He","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7263-2478","authenticated-orcid":false,"given":"JunPeng","family":"Shao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"BingWei","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7796-687X","authenticated-orcid":false,"given":"BingYi","family":"Miao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xuan","family":"Shao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2022,3,16]]},"reference":[{"key":"e_1_2_10_1_2","doi-asserted-by":"publisher","DOI":"10.3182\/20080706-5-kr-1001.01833"},{"key":"e_1_2_10_2_2","first-page":"32","article-title":"Mechanical design and gait planning of a hydraulically actuated quadruped bionic robot","volume":"41","author":"Li Y.","year":"2011","journal-title":"Shandong Daxue Xuebao"},{"key":"e_1_2_10_3_2","doi-asserted-by":"publisher","DOI":"10.6040\/j.issn.1672-3961.0.2014.328"},{"key":"e_1_2_10_4_2","first-page":"421","article-title":"Structural design and gait planning of hydraulically actuated quadruped bionic robot","volume":"36","author":"Gao B.","year":"2015","journal-title":"Chinese Journal of Mechanical Engineering"},{"key":"e_1_2_10_5_2","doi-asserted-by":"publisher","DOI":"10.1155\/2019\/3153195"},{"key":"e_1_2_10_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-016-9573-1"},{"key":"e_1_2_10_7_2","doi-asserted-by":"crossref","unstructured":"GehringC. CorosS. HutterM. BloeschM. HoepflingerM. andSiegwartR. Control of dynamic gaits for a quadrupedal robot Proceedings of the IEEE international conference on Robotics and automation May 2013 Karlsruhe Germany IEEE 3287\u20133292 https:\/\/doi.org\/10.1109\/icra.2013.6631035 2-s2.0-84887310115.","DOI":"10.1109\/ICRA.2013.6631035"},{"key":"e_1_2_10_8_2","doi-asserted-by":"crossref","unstructured":"BoaventuraT. SeminiC. andBuchliJ. Dynamic torque control of a hydraulic quadruped robot 1 Proceedings of the IEEE international conference on robotics and automation May 2012 Saint Paul MN USA IEEE 1889\u20131894 https:\/\/doi.org\/10.1109\/icra.2012.6224628 2-s2.0-84864447243.","DOI":"10.1109\/ICRA.2012.6224628"},{"key":"e_1_2_10_9_2","first-page":"152","volume-title":"Omnidirectional Static Walking of a Quadruped Robot","author":"Ma S.","year":"2005"},{"key":"e_1_2_10_10_2","doi-asserted-by":"publisher","DOI":"10.3390\/electronics8121414"},{"key":"e_1_2_10_11_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10999-014-9288-4"},{"key":"e_1_2_10_12_2","doi-asserted-by":"crossref","unstructured":"ChenY. HouW. andWangJ. A strategy for push recovery in quadruped robot based on reinforcement learning Proceedings of the 34th Chinese Control Conference July 2015 Hangzhou China IEEE 3145\u20133151 https:\/\/doi.org\/10.1109\/chicc.2015.7260125 2-s2.0-84946561320.","DOI":"10.1109\/ChiCC.2015.7260125"},{"key":"e_1_2_10_13_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364912469821"},{"key":"e_1_2_10_14_2","doi-asserted-by":"crossref","unstructured":"ZhangS. MaH. andYangY. The quadruped robot adaptive control in trotting gait walking on slopes Proceedings of the AIP Conference Proceedings October 2017 College Park Maryland MD USA AIP Publishing LLC 020004 https:\/\/doi.org\/10.1063\/1.5005182 2-s2.0-85031101451.","DOI":"10.1063\/1.5005182"},{"key":"e_1_2_10_15_2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910388315"},{"key":"e_1_2_10_16_2","first-page":"163","article-title":"Torso disturbance inhibition and experiment research of hydraulic quadruped robot","volume":"40","author":"Ren D.","year":"2019","journal-title":"Chinese Journal of Scientific Instrument"},{"key":"e_1_2_10_17_2","doi-asserted-by":"publisher","DOI":"10.1155\/2016\/9853070"},{"key":"e_1_2_10_18_2","doi-asserted-by":"crossref","unstructured":"RighettiL. BuchliJ. MistryM. andSchaalS. Control of legged robots with optimal distribution of contact forces Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots October 2011 Bled Slovenia IEEE 318\u2013324 https:\/\/doi.org\/10.1109\/humanoids.2011.6100832 2-s2.0-84856332901.","DOI":"10.1109\/Humanoids.2011.6100832"},{"key":"e_1_2_10_19_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2016.06.004"},{"key":"e_1_2_10_20_2","doi-asserted-by":"publisher","DOI":"10.3390\/app11073082"},{"key":"e_1_2_10_21_2","doi-asserted-by":"crossref","unstructured":"CebeO. TiseoC. XinG. LinH.-c. SmithJ. andMistryM. Online dynamic trajectory optimization and control for a quadruped robot Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) June 2021 Xi\u2019an China IEEE 12773 https:\/\/doi.org\/10.1109\/icra48506.2021.9561592.","DOI":"10.1109\/ICRA48506.2021.9561592"},{"key":"e_1_2_10_22_2","doi-asserted-by":"publisher","DOI":"10.1007\/s42235-018-0050-8"},{"key":"e_1_2_10_23_2","doi-asserted-by":"publisher","DOI":"10.1007\/s10999-014-9288-4"},{"key":"e_1_2_10_24_2","doi-asserted-by":"crossref","unstructured":"FlorianoB. PorphirioC. andSantanaP. Walking pattern design and balance control of a quadruped platform Proceedings of the Latin American Robotic Symposium 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE) November 2018 Joao Pessoa Brazil IEEE 242\u2013247 https:\/\/doi.org\/10.1109\/lars\/sbr\/wre.2018.00052 2-s2.0-85061312656.","DOI":"10.1109\/LARS\/SBR\/WRE.2018.00052"},{"key":"e_1_2_10_25_2","doi-asserted-by":"crossref","unstructured":"KhorramM.andMoosavianS. Balance recovery of a quadruped robot Proceedings of the 3rd RSI International Conference on Robotics and Mechatronics (ICROM) October 2015 Tehran Iran IEEE 259\u2013264 https:\/\/doi.org\/10.1109\/icrom.2015.7367794 2-s2.0-84962469612.","DOI":"10.1109\/ICRoM.2015.7367794"},{"key":"e_1_2_10_26_2","doi-asserted-by":"publisher","DOI":"10.1017\/s0263574716000394"},{"key":"e_1_2_10_27_2","doi-asserted-by":"crossref","unstructured":"EdrisiF. MajdV. andAttarM. Modifying the attitude of quadruped robot body against disturbances via data fusion Proceedings of the 4th International Conference on Robotics and Mechatronics (ICROM) October 2016 Tehran Iran IEEE 55\u201360 https:\/\/doi.org\/10.1109\/icrom.2016.7886817 2-s2.0-85017506451.","DOI":"10.1109\/ICRoM.2016.7886817"},{"key":"e_1_2_10_28_2","doi-asserted-by":"crossref","unstructured":"DiniN. MajdV. J. EdrisiF. andAttarM. Estimation of external forces acting on the legs of a quadruped robot using two nonlinear disturbance observers Proceedings of the 4th International Conference on Robotics and Mechatronics (ICROM) October 2016 Tehran Iran IEEE 72\u201377 https:\/\/doi.org\/10.1109\/icrom.2016.7886820 2-s2.0-85017506517.","DOI":"10.1109\/ICRoM.2016.7886820"},{"key":"e_1_2_10_29_2","doi-asserted-by":"publisher","DOI":"10.1017\/9781316661239"},{"key":"e_1_2_10_30_2","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0031048"},{"key":"e_1_2_10_31_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.280779"},{"key":"e_1_2_10_32_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4011045"},{"key":"e_1_2_10_33_2","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2007.896765"},{"key":"e_1_2_10_34_2","doi-asserted-by":"publisher","DOI":"10.1002\/cae.21656"},{"key":"e_1_2_10_35_2","doi-asserted-by":"crossref","unstructured":"ChenG. GuoS. HouB. andWangJ. J. I. A. Virtual model control for quadruped robots 2020 8 140736\u2013140751.","DOI":"10.1109\/ACCESS.2020.3013434"},{"key":"e_1_2_10_36_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.4047269"},{"key":"e_1_2_10_37_2","doi-asserted-by":"publisher","DOI":"10.3901\/jme.2013.01.039"},{"key":"e_1_2_10_38_2","volume-title":"Research on Gait Planning for a Hydraulic Quadruped Robot","author":"Yang C.","year":"2015"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2022\/4510678","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/full-xml\/10.1155\/2022\/4510678","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2022\/4510678","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T21:18:42Z","timestamp":1769116722000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2022\/4510678"}},"subtitle":[],"editor":[{"given":"Carlos","family":"Aguilar-Ibanez","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2022,1]]},"references-count":38,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2022,1]]}},"alternative-id":["10.1155\/2022\/4510678"],"URL":"https:\/\/doi.org\/10.1155\/2022\/4510678","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"value":"1076-2787","type":"print"},{"value":"1099-0526","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,1]]},"assertion":[{"value":"2021-08-19","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-02-09","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2022-03-16","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"4510678"}}