{"id":"https://openalex.org/W4388461839","doi":"https://doi.org/10.1017/s0263574723001443","title":"A compliant leg design combining pantograph structure with leaf springs","display_name":"A compliant leg design combining pantograph structure with leaf springs","publication_year":2023,"publication_date":"2023-11-07","ids":{"openalex":"https://openalex.org/W4388461839","doi":"https://doi.org/10.1017/s0263574723001443"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001443","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001443","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102816259","display_name":"Boxing Wang","orcid":"https://orcid.org/0000-0002-3472-4694"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Boxing Wang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039474078","display_name":"Kunting Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kunting Zhang","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051048714","display_name":"Xueyan Ma","orcid":"https://orcid.org/0000-0001-8622-7967"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xueyan Ma","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101571650","display_name":"Lihao Jia","orcid":"https://orcid.org/0000-0002-2885-7415"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lihao Jia","raw_affiliation_strings":["State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Multimodal Artificial Intelligence, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101571650"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879"],"apc_list":null,"apc_paid":null,"fwci":0.3375,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.54395151,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"42","issue":"2","first_page":"332","last_page":"346"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.998199999332428,"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/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.9894999861717224,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12206","display_name":"Vibration and Dynamic Analysis","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/leaf-spring","display_name":"Leaf spring","score":0.8681905269622803},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7690726518630981},{"id":"https://openalex.org/keywords/pantograph","display_name":"Pantograph","score":0.7016400098800659},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.584891140460968},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.532741367816925},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5190156698226929},{"id":"https://openalex.org/keywords/coil-spring","display_name":"Coil spring","score":0.4640316963195801},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4168490469455719},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3743932545185089},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.35170412063598633},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3415297567844391},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2688831090927124},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12413996458053589},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09630554914474487}],"concepts":[{"id":"https://openalex.org/C53788299","wikidata":"https://www.wikidata.org/wiki/Q773544","display_name":"Leaf spring","level":3,"score":0.8681905269622803},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7690726518630981},{"id":"https://openalex.org/C20756127","wikidata":"https://www.wikidata.org/wiki/Q722757","display_name":"Pantograph","level":2,"score":0.7016400098800659},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.584891140460968},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.532741367816925},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5190156698226929},{"id":"https://openalex.org/C182664415","wikidata":"https://www.wikidata.org/wiki/Q3175877","display_name":"Coil spring","level":3,"score":0.4640316963195801},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4168490469455719},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3743932545185089},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.35170412063598633},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3415297567844391},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2688831090927124},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12413996458053589},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09630554914474487},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001443","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001443","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W19771005","https://openalex.org/W1853143499","https://openalex.org/W2016582414","https://openalex.org/W2094496385","https://openalex.org/W2141445929","https://openalex.org/W2345474674","https://openalex.org/W2415959992","https://openalex.org/W2534974150","https://openalex.org/W2804790641","https://openalex.org/W2891530411","https://openalex.org/W2963863465","https://openalex.org/W2968213087","https://openalex.org/W2968774764","https://openalex.org/W2972798201","https://openalex.org/W3004647014","https://openalex.org/W3011067721","https://openalex.org/W3091282566","https://openalex.org/W4220800549"],"related_works":["https://openalex.org/W2092358060","https://openalex.org/W4290671047","https://openalex.org/W2795096718","https://openalex.org/W2090152182","https://openalex.org/W2112283614","https://openalex.org/W3042281873","https://openalex.org/W2787802451","https://openalex.org/W2567539326","https://openalex.org/W2067847814","https://openalex.org/W2582730881"],"abstract_inverted_index":{"Abstract":[0],"We":[1],"proposed":[2,21,111],"a":[3,178],"compliant":[4],"leg":[5,43,146,176],"configuration":[6],"that":[7,173],"enhances":[8],"the":[9,20,26,29,32,37,41,90,95,100,110,122,126,135,142,145,156,174,182,186,191],"conventional":[10],"pantograph":[11,30],"design":[12,112],"with":[13,63,99,134,190,198],"leaf":[14,66,103,194],"springs.":[15,104],"The":[16],"following":[17],"facts":[18],"characterize":[19],"configuration:":[22],"(1)":[23],"Due":[24],"to":[25,53,72,88,147,162],"use":[27],"of":[28,102,139,144,152,158],"structure,":[31],"mass":[33],"is":[34,113,170],"centralized":[35],"around":[36],"hip":[38],"joint,":[39],"reducing":[40],"lower":[42],"inertia;":[44],"(2)":[45],"Leaf":[46],"springs":[47,67,195],"are":[48,86,118,196],"chosen":[49],"as":[50],"elastic":[51,175],"parts":[52],"increase":[54],"energy":[55,167],"efficiency":[56],"and":[57,74,93,115,125],"estimate":[58,94],"foot-end":[59],"contact":[60,96,127],"forces.":[61],"Compared":[62],"coil":[64],"springs,":[65],"require":[68],"no":[69],"guide":[70],"rails":[71],"deploy,":[73],"their":[75],"stiffness":[76,92,123],"can":[77],"be":[78],"easily":[79],"adjusted":[80],"through":[81],"shape":[82],"cutting.":[83],"Analytical":[84],"models":[85],"introduced":[87],"analyze":[89],"leg\u2019s":[91],"forces":[97,128],"only":[98],"deflections":[101,161],"A":[105],"one-leg":[106],"robot":[107],"based":[108],"on":[109],"built,":[114],"various":[116],"experiments":[117],"conducted.":[119],"Experiments":[120,138,151],"regarding":[121],"calibration":[124],"estimation":[129],"showed":[130],"an":[131],"acceptable":[132],"agreement":[133],"analytical":[136],"model.":[137],"dropping":[140],"demonstrate":[141,155],"feasibility":[143,157],"perform":[148],"spring-like":[149],"behaviors.":[150],"periodic":[153],"hopping":[154],"using":[159],"spring":[160],"detect":[163],"touch-down":[164],"events.":[165],"For":[166],"efficiency,":[168],"it":[169],"also":[171],"observed":[172],"has":[177],"20%":[179],"increment":[180],"concerning":[181],"jumping":[183],"height":[184],"in":[185],"flight":[187],"phase,":[188],"compared":[189],"one":[192],"where":[193],"replaced":[197],"rigid":[199],"materials.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1}],"updated_date":"2026-01-22T23:29:09.771500","created_date":"2025-10-10T00:00:00"}