{"id":"https://openalex.org/W2280032196","doi":"https://doi.org/10.1007/s10514-015-9537-x","title":"Spatio-temporal stiffness optimization with switching dynamics","display_name":"Spatio-temporal stiffness optimization with switching dynamics","publication_year":2016,"publication_date":"2016-01-21","ids":{"openalex":"https://openalex.org/W2280032196","doi":"https://doi.org/10.1007/s10514-015-9537-x","mag":"2280032196"},"language":"en","primary_location":{"id":"doi:10.1007/s10514-015-9537-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-015-9537-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-015-9537-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10514-015-9537-x.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103273860","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0001-9026-6440"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Jun Nakanishi","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065086988","display_name":"Andreea Radulescu","orcid":"https://orcid.org/0000-0003-0284-8040"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Andreea Radulescu","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089213370","display_name":"David J. Braun","orcid":"https://orcid.org/0000-0002-3672-3847"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"David J. Braun","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069715982","display_name":"Sethu Vijayakumar","orcid":"https://orcid.org/0000-0003-0649-7241"},"institutions":[{"id":"https://openalex.org/I98677209","display_name":"University of Edinburgh","ror":"https://ror.org/01nrxwf90","country_code":"GB","type":"education","lineage":["https://openalex.org/I98677209"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Sethu Vijayakumar","raw_affiliation_strings":["School of Informatics, University of Edinburgh, Edinburgh, UK"],"affiliations":[{"raw_affiliation_string":"School of Informatics, University of Edinburgh, Edinburgh, UK","institution_ids":["https://openalex.org/I98677209"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5103273860"],"corresponding_institution_ids":["https://openalex.org/I98677209"],"apc_list":{"value":2590,"currency":"EUR","value_usd":3390},"apc_paid":{"value":2590,"currency":"EUR","value_usd":3390},"fwci":1.0511,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.76133574,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"41","issue":"2","first_page":"273","last_page":"291"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T10868","display_name":"Soft Robotics and Applications","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.8453582525253296},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7103310823440552},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.6630029678344727},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.6594544053077698},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6137700080871582},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5997949242591858},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.50972980260849},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4223077893257141},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3643326163291931},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3465460538864136},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33902233839035034},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2234276831150055},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.061019837856292725}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8453582525253296},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7103310823440552},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.6630029678344727},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.6594544053077698},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6137700080871582},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5997949242591858},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.50972980260849},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4223077893257141},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3643326163291931},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3465460538864136},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33902233839035034},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2234276831150055},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.061019837856292725},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/s10514-015-9537-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-015-9537-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-015-9537-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},{"id":"pmh:oai:pure.ed.ac.uk:openaire/afe132f0-2e2c-49a7-964d-4d052937c43f","is_oa":true,"landing_page_url":"https://www.research.ed.ac.uk/en/publications/afe132f0-2e2c-49a7-964d-4d052937c43f","pdf_url":null,"source":{"id":"https://openalex.org/S4406922455","display_name":"Edinburgh Research Explorer","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nakanishi, J, Radulescu, A, Braun, D & Vijayakumar, S 2017, 'Spatio-temporal stiffness optimization with switching dynamics', Autonomous Robots, vol. 4, no. 2, pp. 273-291. https://doi.org/10.1007/s10514-015-9537-x","raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:pure.ed.ac.uk:ec_fundedresources/afe132f0-2e2c-49a7-964d-4d052937c43f","is_oa":true,"landing_page_url":"http://link.springer.com/article/10.1007%2Fs10514-015-9537-x","pdf_url":"https://www.research.ed.ac.uk/en/publications/afe132f0-2e2c-49a7-964d-4d052937c43f","source":{"id":"https://openalex.org/S4306400321","display_name":"Edinburgh Research Explorer (University of Edinburgh)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I98677209","host_organization_name":"University of Edinburgh","host_organization_lineage":["https://openalex.org/I98677209"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":""}],"best_oa_location":{"id":"doi:10.1007/s10514-015-9537-x","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10514-015-9537-x","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10514-015-9537-x.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Autonomous Robots","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1647167986","display_name":null,"funder_award_id":"270436","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G22142433","display_name":null,"funder_award_id":"231576","funder_id":"https://openalex.org/F4320333065","funder_display_name":"Seventh Framework Programme"},{"id":"https://openalex.org/G3981126665","display_name":null,"funder_award_id":"Seventh Framework Programme","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320333065","display_name":"Seventh Framework Programme","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2280032196.pdf","grobid_xml":"https://content.openalex.org/works/W2280032196.grobid-xml"},"referenced_works_count":45,"referenced_works":["https://openalex.org/W763223050","https://openalex.org/W838050185","https://openalex.org/W1514799972","https://openalex.org/W1530117215","https://openalex.org/W1570351331","https://openalex.org/W1992559929","https://openalex.org/W1994680409","https://openalex.org/W2011833550","https://openalex.org/W2017514441","https://openalex.org/W2020619194","https://openalex.org/W2048222901","https://openalex.org/W2060281402","https://openalex.org/W2062142552","https://openalex.org/W2066557929","https://openalex.org/W2067103553","https://openalex.org/W2069965378","https://openalex.org/W2076722421","https://openalex.org/W2087617385","https://openalex.org/W2097151736","https://openalex.org/W2097767902","https://openalex.org/W2101340954","https://openalex.org/W2117271243","https://openalex.org/W2117567237","https://openalex.org/W2121310282","https://openalex.org/W2122355301","https://openalex.org/W2128402636","https://openalex.org/W2129936198","https://openalex.org/W2131326336","https://openalex.org/W2137547873","https://openalex.org/W2140020305","https://openalex.org/W2141264169","https://openalex.org/W2142382640","https://openalex.org/W2148557558","https://openalex.org/W2152185829","https://openalex.org/W2167044893","https://openalex.org/W2167322920","https://openalex.org/W2169100281","https://openalex.org/W2171577463","https://openalex.org/W2209666107","https://openalex.org/W2296360731","https://openalex.org/W2596585349","https://openalex.org/W2798500587","https://openalex.org/W3142791425","https://openalex.org/W4241578175","https://openalex.org/W6750661626"],"related_works":["https://openalex.org/W17155033","https://openalex.org/W3207760230","https://openalex.org/W1496222301","https://openalex.org/W1590307681","https://openalex.org/W4312814274","https://openalex.org/W4285370786","https://openalex.org/W2296488620","https://openalex.org/W2358353312","https://openalex.org/W2353836703","https://openalex.org/W41015297"],"abstract_inverted_index":{"We":[0],"address":[1],"the":[2,41,51,82,94,117,120,134,137],"optimal":[3],"control":[4,73],"problem":[5],"of":[6,35,46,50,81,96,119,136,144],"robotic":[7],"systems":[8],"with":[9,40,43,62,105,112,131],"variable":[10,113],"stiffness":[11,76,114],"actuation":[12],"(VSA)":[13],"including":[14],"switching":[15,86],"dynamics":[16,49],"and":[17,38,78,88,107],"discontinuous":[18],"state":[19],"transitions.":[20],"Our":[21],"focus":[22],"in":[23,140],"this":[24],"paper":[25],"is":[26],"to":[27,70,92],"consider":[28],"dynamic":[29],"tasks":[30,56],"that":[31],"have":[32],"multiple":[33],"phases":[34],"movement,":[36],"contacts":[37],"impacts":[39],"environment":[42],"a":[44,58,67,101,108,127,141],"requirement":[45],"exploiting":[47],"passive":[48],"system.":[52],"By":[53],"modelling":[54],"such":[55,84],"as":[57,85],"hybrid":[59],"dynamical":[60],"system":[61],"time-based":[63],"switching,":[64],"we":[65],"develop":[66],"systematic":[68],"methodology":[69],"simultaneously":[71],"optimize":[72],"commands,":[74],"time-varying":[75],"profiles":[77],"temporal":[79],"aspect":[80],"movement":[83,90],"instances":[87],"total":[89],"duration":[91],"exploit":[93],"benefits":[95],"VSA.":[97],"Numerical":[98],"evaluations":[99],"on":[100,126],"brachiating":[102,129],"robot":[103,110,130],"driven":[104],"VSA":[106,132],"hopping":[109],"equipped":[111],"springs":[115],"demonstrate":[116],"effectiveness":[118],"proposed":[121,138],"approach.":[122],"Furthermore,":[123],"hardware":[124],"experiments":[125],"two-link":[128],"highlight":[133],"applicability":[135],"framework":[139],"challenging":[142],"task":[143],"brachiation.":[145]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
