{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,19]],"date-time":"2025-09-19T09:15:06Z","timestamp":1758273306600,"version":"3.41.2"},"reference-count":37,"publisher":"Frontiers Media SA","license":[{"start":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T00:00:00Z","timestamp":1679616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":["frontiersin.org"],"crossmark-restriction":true},"short-container-title":["Front. Robot. AI"],"abstract":"<jats:p>Improving the mobility of robots is an important goal for many real-world applications and implementing an animal-like spine structure in a quadruped robot is a promising approach to achieving high-speed running. This paper proposes a feline-like multi-joint spine adopting a one-degree-of-freedom closed-loop linkage for a quadruped robot to realize high-speed running. We theoretically prove that the proposed spine structure can realize 1.5 times the horizontal range of foot motion compared to a spine structure with a single joint. Experimental results demonstrate that a robot with the proposed spine structure achieves 1.4 times the horizontal range of motion and 1.9 times the speed of a robot with a single-joint spine structure.<\/jats:p>","DOI":"10.3389\/frobt.2023.1148816","type":"journal-article","created":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T04:41:27Z","timestamp":1679632887000},"update-policy":"https:\/\/doi.org\/10.3389\/crossmark-policy","source":"Crossref","is-referenced-by-count":7,"title":["High-speed running quadruped robot with a multi-joint spine adopting a 1DoF closed-loop linkage"],"prefix":"10.3389","volume":"10","author":[{"given":"Ojiro","family":"Matsumoto","sequence":"first","affiliation":[]},{"given":"Hiroaki","family":"Tanaka","sequence":"additional","affiliation":[]},{"given":"Takumi","family":"Kawasetsu","sequence":"additional","affiliation":[]},{"given":"Koh","family":"Hosoda","sequence":"additional","affiliation":[]}],"member":"1965","published-online":{"date-parts":[[2023,3,24]]},"reference":[{"key":"B35","first-page":"467","article-title":"Elastic structures in the back and their role in galloping in some mammals","volume-title":"J. 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