{"id":"https://openalex.org/W3048685678","doi":"https://doi.org/10.1109/access.2020.3015333","title":"Compliance Control and Analysis for Equivalent Hydraulic Legs","display_name":"Compliance Control and Analysis for Equivalent Hydraulic Legs","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3048685678","doi":"https://doi.org/10.1109/access.2020.3015333","mag":"3048685678"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.3015333","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015333","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09162637.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/ielx7/6287639/8948470/09162637.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004254583","display_name":"Guangrong Chen","orcid":"https://orcid.org/0000-0001-9336-9090"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Guangrong Chen","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100687095","display_name":"Sheng Guo","orcid":"https://orcid.org/0000-0001-6746-9274"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Guo","raw_affiliation_strings":["Robotics Research Center, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Robotics Research Center, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079417067","display_name":"Bowen Hou","orcid":"https://orcid.org/0000-0001-9986-8309"},"institutions":[{"id":"https://openalex.org/I21193070","display_name":"Beijing Jiaotong University","ror":"https://ror.org/01yj56c84","country_code":"CN","type":"education","lineage":["https://openalex.org/I21193070"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bowen Hou","raw_affiliation_strings":["Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention, Beijing Jiaotong University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Engineering and Technology Research Center of Rail Transit Line Safety and Disaster Prevention, Beijing Jiaotong University, Beijing, China","institution_ids":["https://openalex.org/I21193070"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100697058","display_name":"Junzheng Wang","orcid":"https://orcid.org/0000-0002-7351-2643"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junzheng Wang","raw_affiliation_strings":["State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5004254583"],"corresponding_institution_ids":["https://openalex.org/I21193070"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.3473,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.5525029,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"8","issue":null,"first_page":"145661","last_page":"145671"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9973999857902527,"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":0.9901000261306763,"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/compliance","display_name":"Compliance (psychology)","score":0.7566567063331604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.716699481010437},{"id":"https://openalex.org/keywords/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.6553986668586731},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6452927589416504},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6157724261283875},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46228837966918945},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.44396883249282837},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4302307963371277},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39673173427581787},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39521968364715576},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35869258642196655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3507731556892395},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1394057273864746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06507253646850586}],"concepts":[{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.7566567063331604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.716699481010437},{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.6553986668586731},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6452927589416504},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6157724261283875},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46228837966918945},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.44396883249282837},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4302307963371277},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39673173427581787},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39521968364715576},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35869258642196655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3507731556892395},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1394057273864746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06507253646850586},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.3015333","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015333","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09162637.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:26b9a78cbc974858b7e00ece91933281","is_oa":true,"landing_page_url":"https://doaj.org/article/26b9a78cbc974858b7e00ece91933281","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"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 8, Pp 145661-145671 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.3015333","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.3015333","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/09162637.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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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/G191980358","display_name":null,"funder_award_id":"201701","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G2376276132","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G4573486184","display_name":null,"funder_award_id":"3204051","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"},{"id":"https://openalex.org/G7610445239","display_name":null,"funder_award_id":"P2018G047","funder_id":"https://openalex.org/F4320316125","funder_display_name":"China Railway"},{"id":"https://openalex.org/G8951484681","display_name":null,"funder_award_id":"Grant","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G966044975","display_name":null,"funder_award_id":"2019JBM051","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"}],"funders":[{"id":"https://openalex.org/F4320316125","display_name":"China Railway","ror":"https://ror.org/044wv3489"},{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3048685678.pdf","grobid_xml":"https://content.openalex.org/works/W3048685678.grobid-xml"},"referenced_works_count":47,"referenced_works":["https://openalex.org/W1853143499","https://openalex.org/W1945123189","https://openalex.org/W1965602858","https://openalex.org/W1968560077","https://openalex.org/W1975230295","https://openalex.org/W1978102433","https://openalex.org/W1994136366","https://openalex.org/W2007216919","https://openalex.org/W2017239762","https://openalex.org/W2055500823","https://openalex.org/W2088381757","https://openalex.org/W2094496385","https://openalex.org/W2108394619","https://openalex.org/W2111904757","https://openalex.org/W2117716849","https://openalex.org/W2138671676","https://openalex.org/W2139255095","https://openalex.org/W2161427949","https://openalex.org/W2162207896","https://openalex.org/W2169440744","https://openalex.org/W2170896522","https://openalex.org/W2208576078","https://openalex.org/W2377098276","https://openalex.org/W2528126647","https://openalex.org/W2531596132","https://openalex.org/W2560136708","https://openalex.org/W2593412525","https://openalex.org/W2745252335","https://openalex.org/W2777467089","https://openalex.org/W2778277788","https://openalex.org/W2805001978","https://openalex.org/W2889688646","https://openalex.org/W2896568083","https://openalex.org/W2902172955","https://openalex.org/W2909553221","https://openalex.org/W2964114602","https://openalex.org/W2965157250","https://openalex.org/W3003609907","https://openalex.org/W3004014436","https://openalex.org/W3046834314","https://openalex.org/W4229849394","https://openalex.org/W4246744050","https://openalex.org/W4250058668","https://openalex.org/W4250087872","https://openalex.org/W4253020970","https://openalex.org/W6677617128","https://openalex.org/W6709469080"],"related_works":["https://openalex.org/W2410395228","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","https://openalex.org/W2785665096"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,43,47,54,65,80,88,98],"compliant":[4],"behavior":[5],"of":[6,18,49,56,59,68,101],"an":[7,95],"equivalent":[8],"hydraulic":[9,19,102],"leg":[10],"is":[11,35,72],"achieved":[12],"by":[13,87],"combining":[14],"active":[15,32],"compliance":[16,33,51,60,70,99],"control":[17,34,40,61,90,100],"cylinder":[20],"with":[21],"a":[22,30],"passive":[23],"spring":[24],"at":[25],"its":[26],"end":[27],"effector.":[28],"Firstly,":[29],"position-based":[31],"proposed":[36,50,69,89],"based":[37],"on":[38],"impedance":[39],"to":[41],"reduce":[42],"contact":[44,81],"impact.":[45],"Secondly,":[46],"stability":[48],"controller":[52,71],"and":[53,64],"range":[55],"impedances":[57],"(Z-width)":[58],"are":[62],"analyzed,":[63],"design":[66],"procedure":[67],"given":[73],"out.":[74],"Finally,":[75],"experimental":[76],"results":[77],"show":[78],"that":[79],"impacts":[82],"could":[83],"be":[84],"well":[85],"handled":[86],"method.":[91],"This":[92],"research":[93],"provides":[94],"insight":[96],"for":[97],"legged":[103],"robots.":[104]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}