{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T02:41:23Z","timestamp":1782960083244,"version":"3.54.5"},"reference-count":46,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[2024,11,26]],"date-time":"2024-11-26T00:00:00Z","timestamp":1732579200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51 905527"],"award-info":[{"award-number":["51 905527"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"name":"State Key Laboratory of Robotics Foundation of China","award":["Y91 Z0303"],"award-info":[{"award-number":["Y91 Z0303"]}]},{"name":"CAS Interdisciplinary Innovation Team of China","award":["JCTD201811"],"award-info":[{"award-number":["JCTD201811"]}]},{"name":"Supported by National Key R & D Program of China","award":["Supported by National Key R & D Program of China"],"award-info":[{"award-number":["Supported by National Key R & D Program of China"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Transactions of the Institute of Measurement and Control"],"published-print":{"date-parts":[[2026,1]]},"abstract":"<jats:p>Modular robots can be reconfigured and deformed into multiple non-isomorphic configurations. Different configurations of robots exhibit diverse motion and stability characteristics. Therefore, the stability of robots with different configurations is essential to improve their motion control robustness and expand their application range. In this article, a new reconfigurable modular multi-legged robot is designed. To analyze the stability of the various typical non-isomorphic configurations of modular robots, a hybrid discrimination method combining the static stability margin-force angle stability margin-stability cone is proposed. By conducting simulation experiments on the static minimum tilt angle of robots in tilt, pitched, and yawed terrains, as well as their combinations, and evaluating the performance index of tipping in the presence of external force interference, the effectiveness of the proposed method can be proved. Furthermore, the movement experiments of the robot in irregular terrain under the quadruped configuration and hexapod configuration were carried out, it is proven that the robot under different configurations can maintain the stability of the structure.<\/jats:p>","DOI":"10.1177\/01423312241288043","type":"journal-article","created":{"date-parts":[[2024,11,27]],"date-time":"2024-11-27T02:07:59Z","timestamp":1732673279000},"page":"122-134","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Research on stability of modular multi-legged robots with non-isomorphic configurations"],"prefix":"10.1177","volume":"48","author":[{"ORCID":"https:\/\/orcid.org\/0009-0008-0051-6652","authenticated-orcid":false,"given":"Junsen","family":"Liu","sequence":"first","affiliation":[{"name":"School of Automation and Electrical Engineering, Shenyang Ligong University, Shenyang, China"},{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinguo","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhihui","family":"Xue","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China"},{"name":"University of Chinese Academy of Sciences, Beijing, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yanming","family":"Wu","sequence":"additional","affiliation":[{"name":"The College of Automation, Shenyang Aerospace University, Shenyang, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2024,11,26]]},"reference":[{"key":"e_1_3_2_2_1","first-page":"1","article-title":"A study on an adaptive gait for a quadruped walking robot under external forces","volume":"33","author":"Bien Z","year":"1996","unstructured":"Bien Z (1996) A study on an adaptive gait for a quadruped walking robot under external forces. 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