{"id":"https://openalex.org/W4229849394","doi":"https://doi.org/10.1109/access.2018.2877408","title":"Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control","display_name":"Dynamic Compliance Analysis for LHDS of Legged Robot, Part B: Force-Based Impedance Control","publication_year":2018,"publication_date":"2018-01-01","ids":{"openalex":"https://openalex.org/W4229849394","doi":"https://doi.org/10.1109/access.2018.2877408"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2877408","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2877408","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2018.2877408","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5018231545","display_name":"Kaixian Ba","orcid":"https://orcid.org/0000-0002-0434-5351"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kaixian Ba","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":"https://orcid.org/0000-0002-0434-5351","affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101895050","display_name":"Bin Yu","orcid":"https://orcid.org/0000-0001-8267-8840"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Yu","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016619759","display_name":"Zhengjie Gao","orcid":"https://orcid.org/0000-0003-0686-4611"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhengjie Gao","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100600031","display_name":"Qixin Zhu","orcid":"https://orcid.org/0000-0002-5275-6657"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qixin Zhu","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058675364","display_name":"Guoliang Ma","orcid":"https://orcid.org/0009-0005-0371-3799"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoliang Ma","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101554600","display_name":"Xiangdong Kong","orcid":"https://orcid.org/0000-0001-6977-6059"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangdong Kong","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I39333907"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8658,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.72712582,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"6","issue":null,"first_page":"74799","last_page":"74811"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9955999851226807,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.7583987712860107},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.7423044443130493},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5860750079154968},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5683940649032593},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5667771697044373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5599238872528076},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5596625804901123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4356621205806732},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4213055968284607},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.37714654207229614},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24795010685920715},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10533833503723145},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07270547747612}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.7583987712860107},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.7423044443130493},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5860750079154968},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5683940649032593},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5667771697044373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5599238872528076},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5596625804901123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4356621205806732},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4213055968284607},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.37714654207229614},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24795010685920715},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10533833503723145},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07270547747612},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2877408","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2877408","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:f2d26d3034404c3997ea080f191d40bf","is_oa":true,"landing_page_url":"https://doaj.org/article/f2d26d3034404c3997ea080f191d40bf","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 6, Pp 74799-74811 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2877408","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2877408","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5638482828","display_name":null,"funder_award_id":"2018M640246","funder_id":"https://openalex.org/F4320321543","funder_display_name":"China Postdoctoral Science Foundation"},{"id":"https://openalex.org/G6120858189","display_name":null,"funder_award_id":"51605417","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W909896239","https://openalex.org/W1789658038","https://openalex.org/W1979445726","https://openalex.org/W1985757073","https://openalex.org/W2025522142","https://openalex.org/W2054186704","https://openalex.org/W2077676902","https://openalex.org/W2079673925","https://openalex.org/W2106848320","https://openalex.org/W2144503307","https://openalex.org/W2334471582","https://openalex.org/W2503394469","https://openalex.org/W2531596132","https://openalex.org/W2728269801","https://openalex.org/W2740618147","https://openalex.org/W2762183850","https://openalex.org/W2762527310","https://openalex.org/W2772334937","https://openalex.org/W2792664783","https://openalex.org/W2890677810","https://openalex.org/W2896568083","https://openalex.org/W3104755274","https://openalex.org/W3204674460","https://openalex.org/W4241589064","https://openalex.org/W4250087872","https://openalex.org/W6646727818"],"related_works":["https://openalex.org/W2375706956","https://openalex.org/W1996212220","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"In":[0],"this":[1,101],"paper,":[2],"the":[3,14,31,37,47,55,59,74,80,87,107],"dynamic":[4,56,91],"compliance":[5,57,92],"analysis":[6],"for":[7,106],"force-based":[8,32,110],"impedance":[9,33,81,111],"control":[10,34,60,82],"is":[11,28,43,62,93],"studied.":[12],"First,":[13],"mathematical":[15],"model":[16,35,61],"of":[17,36,58,90,109],"legged":[18],"robot":[19,48],"joint":[20],"hydraulic":[21,24,39],"driver,":[22],"called":[23],"drive":[25,40],"unit":[26],"(HDU),":[27],"built.":[29],"Then":[30],"leg":[38],"system":[41,49],"(LHDS)":[42],"built":[44],"based":[45],"on":[46],"kinematics,":[50],"statics":[51],"and":[52,64],"dynamics.":[53],"Next":[54],"studied":[63],"found":[65],"to":[66],"be":[67],"composed":[68],"in":[69,100],"a":[70],"serial-parallel":[71],"structure.":[72],"Further,":[73],"two":[75],"main":[76],"factors":[77],"which":[78],"influence":[79],"accuracy":[83],"are":[84],"found.":[85],"Finally,":[86],"composition":[88],"theory":[89,98],"proved":[94],"by":[95],"experiments.":[96],"The":[97],"proposed":[99],"paper":[102],"provide":[103],"theoretical":[104],"foundation":[105],"compensation":[108],"control.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
