{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T14:14:02Z","timestamp":1776953642270,"version":"3.51.4"},"reference-count":52,"publisher":"MDPI AG","issue":"17","license":[{"start":{"date-parts":[[2020,8,31]],"date-time":"2020-08-31T00:00:00Z","timestamp":1598832000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100012226","name":"Fundamental Research Funds for the Central Universities","doi-asserted-by":"publisher","award":["2019JBM051"],"award-info":[{"award-number":["2019JBM051"]}],"id":[{"id":"10.13039\/501100012226","id-type":"DOI","asserted-by":"publisher"}]},{"name":"undefined  &lt;span style=&quot;color:gray;font-size:10px;&quot;&gt;undefined&lt;\/span&gt;","award":["RRC201701"],"award-info":[{"award-number":["RRC201701"]}]},{"DOI":"10.13039\/501100004826","name":"Beijing Municipal Natural Science Foundation","doi-asserted-by":"publisher","award":["3204051"],"award-info":[{"award-number":["3204051"]}],"id":[{"id":"10.13039\/501100004826","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002855","name":"Ministry of Science and Technology of the People's Republic of China","doi-asserted-by":"publisher","award":["2017YFB1201104"],"award-info":[{"award-number":["2017YFB1201104"]}],"id":[{"id":"10.13039\/501100002855","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Stability is a prerequisite for legged robots to execute tasks and traverse rough terrains. To guarantee the stability of quadruped locomotion and improve the terrain adaptability of quadruped robots, a stability-guaranteed and high terrain adaptability static gait for quadruped robots is addressed. Firstly, three chosen stability-guaranteed static gaits: intermittent gait 1&amp;2 and coordinated gait are investigated. In addition, then the static gait: intermittent gait 1, which is with the biggest stability margin, is chosen to do a further research about quadruped robots walking on rough terrains. Secondly, a position\/force based impedance control is employed to achieve a compliant behavior of quadruped robots on rough terrains. Thirdly, an exploratory gait planning method on uneven terrains with touch sensing and an attitude-position adjustment strategy with terrain estimation are proposed to improve the terrain adaptability of quadruped robots. Finally, the proposed methods are validated by simulations.<\/jats:p>","DOI":"10.3390\/s20174911","type":"journal-article","created":{"date-parts":[[2020,8,31]],"date-time":"2020-08-31T08:11:19Z","timestamp":1598861479000},"page":"4911","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":36,"title":["Stability-Guaranteed and High Terrain Adaptability Static Gait for Quadruped Robots"],"prefix":"10.3390","volume":"20","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1475-7501","authenticated-orcid":false,"given":"Qian","family":"Hao","sequence":"first","affiliation":[{"name":"School of Information and Communication Engineering, North University of China, Taiyuan 030051, China"}]},{"given":"Zhaoba","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Information and Communication Engineering, North University of China, Taiyuan 030051, China"}]},{"given":"Junzheng","family":"Wang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9336-9090","authenticated-orcid":false,"given":"Guangrong","family":"Chen","sequence":"additional","affiliation":[{"name":"Robotics Research Center, Beijing Jiaotong University, Beijing 100044, China"}]}],"member":"1968","published-online":{"date-parts":[[2020,8,31]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Bai, L., Hu, H., Chen, X., Sun, Y., Ma, C., and Zhong, Y. 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