{"id":"https://openalex.org/W2901680583","doi":"https://doi.org/10.1109/access.2018.2881440","title":"Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot","display_name":"Design and Application of MVIC for Hydraulic Drive Unit of Legged Robot","publication_year":2018,"publication_date":"2018-11-15","ids":{"openalex":"https://openalex.org/W2901680583","doi":"https://doi.org/10.1109/access.2018.2881440","mag":"2901680583"},"language":"en","primary_location":{"id":"doi:10.1109/access.2018.2881440","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2881440","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08536367.pdf","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://ieeexplore.ieee.org/ielx7/6287639/8600701/08536367.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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/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/A5007433804","display_name":"Yaliang Liu","orcid":"https://orcid.org/0000-0002-0148-4102"},"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":"Yaliang Liu","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/A5109292110","display_name":"Zhengguo Jin","orcid":null},"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":"Zhengguo Jin","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/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/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":0.333,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.59915062,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"11237","last_page":"11245"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9995999932289124,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9976000189781189,"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/inner-loop","display_name":"Inner loop","score":0.7347216606140137},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6477174758911133},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6448261737823486},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5791570544242859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5242031812667847},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5181761980056763},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4932045340538025},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.48414263129234314},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46548476815223694},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4351934790611267},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4296691417694092},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2892087697982788},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20869237184524536},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1285533308982849}],"concepts":[{"id":"https://openalex.org/C58716799","wikidata":"https://www.wikidata.org/wiki/Q6035648","display_name":"Inner loop","level":3,"score":0.7347216606140137},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6477174758911133},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6448261737823486},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5791570544242859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5242031812667847},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5181761980056763},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4932045340538025},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.48414263129234314},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46548476815223694},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4351934790611267},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4296691417694092},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2892087697982788},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20869237184524536},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1285533308982849},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2018.2881440","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2881440","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08536367.pdf","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:c86318e689ec4941a2657a85744a79f3","is_oa":true,"landing_page_url":"https://doaj.org/article/c86318e689ec4941a2657a85744a79f3","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 7, Pp 11237-11245 (2019)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2018.2881440","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2018.2881440","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8600701/08536367.pdf","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":[{"score":0.4399999976158142,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"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/G5793563636","display_name":null,"funder_award_id":"2018M640246","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2901680583.pdf","grobid_xml":"https://content.openalex.org/works/W2901680583.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1789658038","https://openalex.org/W1979445726","https://openalex.org/W1980569701","https://openalex.org/W1985757073","https://openalex.org/W2009193957","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/W2151075848","https://openalex.org/W2152526632","https://openalex.org/W2171589718","https://openalex.org/W2324070240","https://openalex.org/W2334471582","https://openalex.org/W2337641304","https://openalex.org/W2343736713","https://openalex.org/W2523980053","https://openalex.org/W2728269801","https://openalex.org/W2743584770","https://openalex.org/W2790630269","https://openalex.org/W2889688646","https://openalex.org/W2890677810","https://openalex.org/W3104755274","https://openalex.org/W4229849394","https://openalex.org/W4250087872","https://openalex.org/W6670560363","https://openalex.org/W6675707106"],"related_works":["https://openalex.org/W4380366481","https://openalex.org/W3101417067","https://openalex.org/W2160363304","https://openalex.org/W2172274897","https://openalex.org/W2734611617","https://openalex.org/W1568936204","https://openalex.org/W1500387900","https://openalex.org/W3030963096","https://openalex.org/W2887125121","https://openalex.org/W2318120411"],"abstract_inverted_index":{"A":[0],"hydraulic":[1,11,25,39],"drive":[2],"unit":[3],"(HDU),":[4],"applied":[5],"in":[6],"each":[7],"joint":[8],"of":[9,54,87,96,132],"a":[10,66,114],"driven":[12],"legged":[13],"robot,":[14],"usually":[15],"adopts":[16,41],"the":[17,24,28,34,38,51,55,79,83,88,94,97,108,124,129,133,138,148,153,163,178],"impedance":[18,56,183],"control":[19,30,40,46,52,57,69,85,99,126,130,155],"outer":[20,58],"loop":[21,32],"based":[22],"on":[23,107,137],"position":[26],"or":[27],"force":[29,43,68,84,98,125,154],"inner":[31],"during":[33],"motion":[35],"process.":[36],"When":[37],"closed-loop":[42],"control,":[44],"its":[45],"performance":[47,53,100,110,131,140],"can":[48,150,172],"directly":[49],"determine":[50],"loop.":[59],"Therefore,":[60],"it":[61],"is":[62,90,101,120,135],"significant":[63],"to":[64,122],"design":[65],"high-accuracy":[67],"method":[70],"aimed":[71],"at":[72,78],"HDUs.":[73],"In":[74],"this":[75],"paper,":[76],"aiming":[77],"above":[80,169],"research":[81,170],"concept,":[82],"system":[86],"HDU":[89,109,139],"introduced":[91],"first,":[92],"and":[93,161,176],"lack":[95],"studied":[102],"under":[103,157],"different":[104,158],"working":[105,159],"conditions":[106,160],"test":[111,141],"platform.":[112,142],"Second,":[113],"model-based":[115],"variable":[116],"input":[117],"controller":[118,164],"(MVIC)":[119],"designed":[121],"improve":[123,152],"performance.":[127],"Finally,":[128],"MVIC":[134,149],"verified":[136],"The":[143,168],"experimental":[144,179],"results":[145,171],"show":[146],"that":[147,162],"greatly":[151],"accuracy":[156],"has":[165],"good":[166],"robustness.":[167],"provide":[173],"important":[174],"reference":[175],"lay":[177],"foundation":[180],"for":[181],"force-based":[182],"control.":[184]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}