{"id":"https://openalex.org/W2527576505","doi":"https://doi.org/10.1109/aim.2016.7576893","title":"Design and control of a recovery system for legged robots","display_name":"Design and control of a recovery system for legged robots","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2527576505","doi":"https://doi.org/10.1109/aim.2016.7576893","mag":"2527576505"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2016.7576893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2111.14972","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014224596","display_name":"Kevin Green","orcid":"https://orcid.org/0000-0003-3922-4426"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Kevin Green","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014440525","display_name":"Nils Smit-Anseeuw","orcid":"https://orcid.org/0000-0002-6848-7308"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nils Smit-Anseeuw","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014530651","display_name":"Rodney Gleason","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rodney Gleason","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"C. David Remy","raw_affiliation_strings":["Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5014224596"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":1.2244,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.7957588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"958","last_page":"963"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9995999932289124,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9753000140190125,"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/robot","display_name":"Robot","score":0.7881941795349121},{"id":"https://openalex.org/keywords/pulley","display_name":"Pulley","score":0.6242539286613464},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5495303869247437},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.5006921291351318},{"id":"https://openalex.org/keywords/mechatronics","display_name":"Mechatronics","score":0.49747565388679504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4760039746761322},{"id":"https://openalex.org/keywords/mode","display_name":"Mode (computer interface)","score":0.4359186291694641},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4298582077026367},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37767916917800903},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3528152108192444},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3206181228160858},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1787620484828949},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13438770174980164},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.07323867082595825}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7881941795349121},{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.6242539286613464},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5495303869247437},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.5006921291351318},{"id":"https://openalex.org/C28704281","wikidata":"https://www.wikidata.org/wiki/Q180165","display_name":"Mechatronics","level":2,"score":0.49747565388679504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4760039746761322},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.4359186291694641},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4298582077026367},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37767916917800903},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3528152108192444},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3206181228160858},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1787620484828949},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13438770174980164},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.07323867082595825},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2016.7576893","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576893","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2111.14972","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.14972","pdf_url":"https://arxiv.org/pdf/2111.14972","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2111.14972","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2111.14972","pdf_url":"https://arxiv.org/pdf/2111.14972","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1530083085","https://openalex.org/W1602448039","https://openalex.org/W1993314711","https://openalex.org/W2108746967","https://openalex.org/W2111253117","https://openalex.org/W2142756781","https://openalex.org/W2154139861","https://openalex.org/W2171996789","https://openalex.org/W2206891562","https://openalex.org/W3014646291","https://openalex.org/W3146289928","https://openalex.org/W6682479552"],"related_works":["https://openalex.org/W2722606392","https://openalex.org/W4388034745","https://openalex.org/W2389891446","https://openalex.org/W205794235","https://openalex.org/W2776538682","https://openalex.org/W3134656980","https://openalex.org/W2384140996","https://openalex.org/W2566357993","https://openalex.org/W2938918381","https://openalex.org/W2010636391"],"abstract_inverted_index":{"This":[0],"paper":[1,169],"describes":[2],"the":[3,41,46,49,58,80,87,96,102,106,128,172,176,184,188],"design":[4,159,174],"and":[5,10,82,95,134,182],"control":[6],"of":[7,154,160,175],"a":[8,31,66,72,90,109,143],"support":[9],"recovery":[11,177],"system":[12,20,47,103,136,156],"for":[13,112],"use":[14],"with":[15,142],"planar":[16],"legged":[17],"robots.":[18],"The":[19,122,151],"operates":[21],"in":[22,30],"three":[23],"modes.":[24],"First,":[25],"it":[26,63,77,84],"can":[27,64,78],"be":[28,53,117],"operated":[29],"fully":[32],"transparent":[33,149],"mode":[34],"where":[35],"no":[36],"forces":[37,124],"are":[38,125],"applied":[39,126],"to":[40,52,55,70,92,116,127,146,162],"robot.":[42],"In":[43,99,167],"this":[44,100,155,168],"mode,":[45,101],"follows":[48],"robot":[50,59,73,81,107,129,190],"closely":[51],"able":[54],"quickly":[56],"catch":[57,79],"if":[60],"needed.":[61],"Second,":[62],"provide":[65],"vertical":[67],"supportive":[68,123],"force":[69],"assist":[71],"during":[74],"operation.":[75,150],"Third,":[76],"pull":[83],"away":[85],"from":[86],"ground":[88],"after":[89,108],"failure":[91],"avoid":[93],"falls":[94],"associated":[97],"damages.":[98],"automatically":[104],"resets":[105],"trial":[110],"allowing":[111],"multiple":[113],"consecutive":[114],"trials":[115],"run":[118],"without":[119],"manual":[120],"intervention.":[121],"through":[130],"an":[131],"actuated":[132],"cable":[133],"pulley":[135],"that":[137],"uses":[138],"series":[139],"elastic":[140],"actuation":[141],"unidirectional":[144],"spring":[145],"enable":[147],"truly":[148],"nonlinear":[152],"nature":[153],"necessitates":[157],"careful":[158],"controllers":[161],"ensure":[163],"predictable,":[164],"safe":[165],"behaviors.":[166],"we":[170],"introduce":[171],"mechatronic":[173],"system,":[178],"develop":[179],"suitable":[180],"controllers,":[181],"evaluate":[183],"system's":[185],"performance":[186],"on":[187],"bipedal":[189],"RAMone.":[191]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2017,"cited_by_count":5}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
