{"id":"https://openalex.org/W2015710178","doi":"https://doi.org/10.1007/s10514-010-9216-x","title":"Control of underactuated planar pronking through an\u00a0embedded spring-mass Hopper template","display_name":"Control of underactuated planar pronking through an\u00a0embedded spring-mass Hopper template","publication_year":2010,"publication_date":"2010-12-28","ids":{"openalex":"https://openalex.org/W2015710178","doi":"https://doi.org/10.1007/s10514-010-9216-x","mag":"2015710178"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-010-9216-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-010-9216-x","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11511/34768","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067544950","display_name":"Mustafa Mert Ankaral\u0131","orcid":"https://orcid.org/0000-0002-1235-5373"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":true,"raw_author_name":"M. Mert Ankaral\u0131","raw_affiliation_strings":["Dept. of Electrical and Electronics Eng., Middle East Technical University, Ankara, Turkey","Department of electrical and electronics engineering, Middle East Technical University, Ankara, Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. of Electrical and Electronics Eng., Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]},{"raw_affiliation_string":"Department of electrical and electronics engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071461538","display_name":"Ulu\u00e7 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578"},"institutions":[{"id":"https://openalex.org/I168864056","display_name":"Bilkent University","ror":"https://ror.org/02vh8a032","country_code":"TR","type":"education","lineage":["https://openalex.org/I168864056"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Uluc\u0323 Saranl\u0131","raw_affiliation_strings":["Dept. of Computer Engineering, Bilkent University, Ankara, Turkey","Department of Computer Engineering Bilkent University  Ankara Turkey"],"affiliations":[{"raw_affiliation_string":"Dept. of Computer Engineering, Bilkent University, Ankara, Turkey","institution_ids":["https://openalex.org/I168864056"]},{"raw_affiliation_string":"Department of Computer Engineering Bilkent University  Ankara Turkey","institution_ids":["https://openalex.org/I168864056"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5067544950"],"corresponding_institution_ids":["https://openalex.org/I201799495"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":null,"fwci":60.1878,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99533218,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"30","issue":"2","first_page":"217","last_page":"231"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12719","display_name":"Aerospace Engineering and Energy Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9973999857902527,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8845934867858887},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.7669806480407715},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.6967707276344299},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.6002192497253418},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36531293392181396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25857293605804443},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.22632992267608643},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10581663250923157}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8845934867858887},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.7669806480407715},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.6967707276344299},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.6002192497253418},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36531293392181396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25857293605804443},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.22632992267608643},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10581663250923157},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1007/s10514-010-9216-x","is_oa":false,"landing_page_url":"https://doi.org/10.1007/s10514-010-9216-x","pdf_url":null,"source":{"id":"https://openalex.org/S144091109","display_name":"Autonomous Robots","issn_l":"0929-5593","issn":["0929-5593","1573-7527"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.712.5008","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.712.5008","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://limbs.lcsr.jhu.edu/wp-content/uploads/2013/05/ankaralicontrol2011.pdf","raw_type":"text"},{"id":"pmh:oai:open.metu.edu.tr:11511/34768","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/34768","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},{"id":"pmh:oai:repository.bilkent.edu.tr:11693/22035","is_oa":false,"landing_page_url":"http://hdl.handle.net/11693/22035","pdf_url":null,"source":{"id":"https://openalex.org/S4306400079","display_name":"Bilkent University Institutional Repository (Bilkent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I168864056","host_organization_name":"Bilkent University","host_organization_lineage":["https://openalex.org/I168864056"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Autonomous Robots","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:open.metu.edu.tr:11511/34768","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/34768","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal Article"},"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W98257204","https://openalex.org/W154357486","https://openalex.org/W204073942","https://openalex.org/W365407947","https://openalex.org/W1504362584","https://openalex.org/W1545926767","https://openalex.org/W1596537003","https://openalex.org/W1596567109","https://openalex.org/W1619303830","https://openalex.org/W1822001265","https://openalex.org/W1971000168","https://openalex.org/W1989796457","https://openalex.org/W2000291657","https://openalex.org/W2001556607","https://openalex.org/W2010026582","https://openalex.org/W2077676902","https://openalex.org/W2078139367","https://openalex.org/W2078186110","https://openalex.org/W2088632382","https://openalex.org/W2091259773","https://openalex.org/W2099084756","https://openalex.org/W2103449415","https://openalex.org/W2119098563","https://openalex.org/W2121801811","https://openalex.org/W2123190101","https://openalex.org/W2126677924","https://openalex.org/W2129224530","https://openalex.org/W2138012722","https://openalex.org/W2140202673","https://openalex.org/W2141519971","https://openalex.org/W2146760274","https://openalex.org/W2159873858","https://openalex.org/W2161427949","https://openalex.org/W2171576207","https://openalex.org/W2313267374","https://openalex.org/W2337628748","https://openalex.org/W2406624004","https://openalex.org/W2610901891","https://openalex.org/W2623660146","https://openalex.org/W4232234812","https://openalex.org/W4236573885","https://openalex.org/W4242968774","https://openalex.org/W4285719527","https://openalex.org/W6604045877","https://openalex.org/W6606299263","https://openalex.org/W6606441935","https://openalex.org/W6680680239","https://openalex.org/W6684920602","https://openalex.org/W7015794613","https://openalex.org/W7051736003"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W3011477119","https://openalex.org/W2371440471"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":7},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}