{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,28]],"date-time":"2026-02-28T18:19:21Z","timestamp":1772302761147,"version":"3.50.1"},"reference-count":41,"publisher":"SAGE Publications","issue":"4","license":[{"start":{"date-parts":[[2009,6,17]],"date-time":"2009-06-17T00:00:00Z","timestamp":1245196800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,4]]},"abstract":"<jats:p> The bounding gait for the Platform for Ambulating Wheels (PAW), a new and unique hybrid wheeled\u2014leg system is presented. Two hypotheses are tested and discussed: first, that the robot\u2019s forward speed can be increased by increasing the leg liftoff angles and, second, that the addition of distally mounted actuated wheels can be used in running gaits such as the bound. Both hypotheses were tested experimentally and found to be valid. <\/jats:p>","DOI":"10.1177\/0278364909336807","type":"journal-article","created":{"date-parts":[[2009,6,18]],"date-time":"2009-06-18T00:50:47Z","timestamp":1245286247000},"page":"414-427","source":"Crossref","is-referenced-by-count":31,"title":["Bounding with Active Wheels and Liftoff Angle Velocity Adjustment"],"prefix":"10.1177","volume":"29","author":[{"given":"James Andrew","family":"Smith","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering, Ryerson University, Toronto, ON Canada,"}]},{"given":"Ioannis","family":"Poulakakis","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ, USA,"}]},{"given":"Michael","family":"Trentini","sequence":"additional","affiliation":[{"name":"Defence R&D Canada - Suffield, Medicine Hat, AB, Canada,"}]},{"given":"Inna","family":"Sharf","sequence":"additional","affiliation":[{"name":"Centre for Intelligent Machines, McGill University, Montreal, QC, Canada,"}]}],"member":"179","published-online":{"date-parts":[[2009,6,17]]},"reference":[{"key":"atypb1","volume-title":"Fundamentals of Robotic Mechanical Systems-Theory, Methods, and Algorithms","author":"Angeles, J.","year":"2002","edition":"2"},{"key":"atypb2","volume-title":"Proceedings of SPIE","author":"Automn, K."},{"key":"atypb3","volume-title":"Technical Report","author":"BAE Systems"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1177\/02783649922066475"},{"key":"atypb5","volume-title":"Experimental Robotics VIII","author":"Campbell, D."},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041323"},{"key":"atypb7","volume-title":"Dynamic compliant walking of the Scout II quadruped","author":"de Lasa, M.","year":"2000"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.846453"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1061\/40476(299)44"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908097063"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122068092"},{"key":"atypb12","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Furusho, J."},{"issue":"10","key":"atypb13","first-page":"775","volume":"72","author":"Gabrielli, G.","year":"1950","journal-title":"Mechanical Engineering"},{"key":"atypb14","volume-title":"How Mammals Run-Anatomical Adaptations","author":"Gambaryan, P.P.","year":"1974"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904047616"},{"key":"atypb16","unstructured":"Hirose, S. ( 2001). Super mechano-system: new perspective for versatile robotic system. Experimental Robotics VII. Berlin, Springer, pp. 281-289."},{"key":"atypb17","volume-title":"Proceedings of the 12th International Conference on Advanced Robotics (ICAR05)","author":"Iida, F."},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008924521542"},{"key":"atypb19","author":"Kirsner, S.","year":"2004","journal-title":"The New York Times"},{"key":"atypb20","volume-title":"The 3rd Performance Metrics for Intelligent Systems Workshop (PerMIS\u201903)","author":"McBride, B."},{"key":"atypb21","volume-title":"Towards pronking with a hexapod robot","author":"McMordie, D.","year":"2002"},{"key":"atypb22","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"McMordie, D."},{"key":"atypb23","volume-title":"Sojourner: An Insider\u2019s View of the Mars Pathfinder Mission","author":"Mishkin, A.","year":"2003"},{"key":"atypb24","first-page":"129","volume":"34","author":"Moore, E.F.","year":"1956","journal-title":"Annals of Mathematical Studies"},{"key":"atypb25","volume-title":"CLAWAR\u201905: 8th International Conference on Climbing and Walking Robots","author":"Palmer, L.R."},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844095"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.844095"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906066768"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904050917"},{"key":"atypb30","volume-title":"The Inaugural Canadian Design Engineering Network (CDEN) Design Conference","author":"Prahacs, C."},{"key":"atypb31","doi-asserted-by":"publisher","DOI":"10.1016\/0021-9290(90)90043-3"},{"key":"atypb32","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122067570"},{"key":"atypb34","volume-title":"Galloping, bounding and wheeled-leg modes of locomotion on underactuated quadrupedal robots","author":"Smith, J.A.","year":"2006"},{"key":"atypb35","volume-title":"Proceedings of the 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Smith, J.A."},{"key":"atypb36","volume-title":"Proceedings of the 2006 IEEE International Conference on Robotics and Automation","author":"Smith, J.A."},{"key":"atypb37","volume-title":"Machines That Walk: The Adaptive Suspension Vehicle","author":"Song, S.-M.","year":"1989"},{"key":"atypb38","volume-title":"Design and behavioural control of a dynamic quadruped with active wheels","author":"Steeves, C.","year":"2002"},{"key":"atypb39","volume-title":"Compliant running and step climbing of the Scout II platform","author":"Talebi, S.","year":"2000"},{"key":"atypb40","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.380639"},{"key":"atypb41","first-page":"46","volume":"22","author":"Yong, J.","year":"2005","journal-title":"Ingenia"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909336807","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0278364909336807","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T16:24:19Z","timestamp":1738081459000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0278364909336807"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,6,17]]},"references-count":41,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2010,4]]}},"alternative-id":["10.1177\/0278364909336807"],"URL":"https:\/\/doi.org\/10.1177\/0278364909336807","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,6,17]]}}}