{"id":"https://openalex.org/W3195403915","doi":"https://doi.org/10.1109/aim46487.2021.9517451","title":"A Novel Design of Robot Leg with Adjustable Stiffness","display_name":"A Novel Design of Robot Leg with Adjustable Stiffness","publication_year":2021,"publication_date":"2021-07-12","ids":{"openalex":"https://openalex.org/W3195403915","doi":"https://doi.org/10.1109/aim46487.2021.9517451","mag":"3195403915"},"language":"en","primary_location":{"id":"doi:10.1109/aim46487.2021.9517451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5027371498","display_name":"Weilin Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weilin Zhang","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024455727","display_name":"Min Luo","orcid":"https://orcid.org/0000-0002-8455-5606"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Luo","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100783745","display_name":"Liu Hong","orcid":"https://orcid.org/0000-0003-3760-1259"},"institutions":[{"id":"https://openalex.org/I196699116","display_name":"Wuhan University of Technology","ror":"https://ror.org/03fe7t173","country_code":"CN","type":"education","lineage":["https://openalex.org/I196699116"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Liu Hong","raw_affiliation_strings":["School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People\u2019s Republic of China","institution_ids":["https://openalex.org/I196699116"]},{"raw_affiliation_string":"School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, People's Republic of China","institution_ids":["https://openalex.org/I196699116"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010342778","display_name":"Jaspreet Singh Dhupia","orcid":"https://orcid.org/0000-0001-7181-1917"},"institutions":[{"id":"https://openalex.org/I154130895","display_name":"University of Auckland","ror":"https://ror.org/03b94tp07","country_code":"NZ","type":"education","lineage":["https://openalex.org/I154130895"]}],"countries":["NZ"],"is_corresponding":false,"raw_author_name":"Jaspreet Singh Dhupia","raw_affiliation_strings":["School of Mechanical Engineering, University of Auckland 20 Symonds St, City Center, New Zealand"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, University of Auckland 20 Symonds St, City Center, New Zealand","institution_ids":["https://openalex.org/I154130895"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088166934","display_name":"Shane Johnson","orcid":"https://orcid.org/0000-0002-7000-028X"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shane Johnson","raw_affiliation_strings":["State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"State Key Laboratory of Mechanical Systems and Vibration, Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085268045","display_name":"Zeeshan Qaiser","orcid":"https://orcid.org/0000-0001-5928-8326"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeeshan Qaiser","raw_affiliation_strings":["University of Michigan and Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","University of Michigan and Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University, Shanghai, People's Republic of China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan and Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University, Shanghai, People\u2019s Republic of China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"University of Michigan and Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong University, Shanghai, People's Republic of China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.09327864,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"899","last_page":"904"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9876999855041504,"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/stiffness","display_name":"Stiffness","score":0.8499330878257751},{"id":"https://openalex.org/keywords/touchdown","display_name":"Touchdown","score":0.6463407278060913},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5118688941001892},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5052807927131653},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5023379325866699},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4512344002723694},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.41841283440589905},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.41392776370048523},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.321889728307724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19122454524040222},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14521795511245728},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12518668174743652}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8499330878257751},{"id":"https://openalex.org/C2779860262","wikidata":"https://www.wikidata.org/wiki/Q650807","display_name":"Touchdown","level":2,"score":0.6463407278060913},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5118688941001892},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5052807927131653},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5023379325866699},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4512344002723694},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.41841283440589905},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.41392776370048523},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.321889728307724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19122454524040222},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14521795511245728},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12518668174743652},{"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/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim46487.2021.9517451","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim46487.2021.9517451","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W2008342119","https://openalex.org/W2077150991","https://openalex.org/W2081115468","https://openalex.org/W2090637319","https://openalex.org/W2174295199","https://openalex.org/W2572101582","https://openalex.org/W2757730341","https://openalex.org/W2805315006","https://openalex.org/W2810881650","https://openalex.org/W2895199926","https://openalex.org/W2917043170","https://openalex.org/W2946778909","https://openalex.org/W2968653387","https://openalex.org/W2980482104","https://openalex.org/W2995565036","https://openalex.org/W3109424835","https://openalex.org/W6786320795"],"related_works":["https://openalex.org/W3083594100","https://openalex.org/W804621235","https://openalex.org/W1561809125","https://openalex.org/W2733937007","https://openalex.org/W2170933721","https://openalex.org/W2099808884","https://openalex.org/W2137951129","https://openalex.org/W809819843","https://openalex.org/W2322370595","https://openalex.org/W2376984092"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"leg":[3,28,67,83,94,116,132,155],"stiffness":[4,29,65,74,77,90,117,126,153,172],"control":[5],"has":[6,146,156,178],"been":[7],"a":[8,47,119,168],"hot":[9],"research":[10],"area":[11],"of":[12,27,31,38,58,91,100,115,128,159,171,184],"legged":[13,186],"robotics.":[14],"Considering":[15],"that":[16,143],"the":[17,25,36,39,43,81,92,98,110,123,129,144,157,182],"non-ideal":[18],"terrain":[19],"conditions":[20],"will":[21],"serve":[22],"as":[23,55],"limitations,":[24],"adjustment":[26,114],"is":[30,133],"great":[32,179],"significance":[33],"to":[34],"maintain":[35],"stability":[37],"robot":[40],"and":[41,84,161],"improve":[42],"energy":[44],"efficiency.":[45],"Taking":[46],"classical":[48],"Rolling":[49],"Spring":[50],"Loaded":[51],"Inverted":[52],"Pendulum":[53],"(R-SLIP)":[54],"an":[56,63],"object":[57],"study,":[59],"this":[60,175],"paper":[61],"proposes":[62],"adjustable":[64,125,152],"C-shaped":[66,82,93,131,154],"based":[68],"on":[69],"e-spring":[70,85],"(a":[71],"compact":[72],"tunable":[73],"mechanism).":[75],"The":[76,88,104,139,150],"conversion":[78],"relationship":[79],"between":[80],"was":[86,95],"derived.":[87],"static":[89],"tested":[96],"in":[97,181],"cases":[99],"different":[101],"touchdown":[102],"conditions.":[103],"experimental":[105],"results":[106,140],"show":[107,142],"that,":[108],"with":[109,167],"capability":[111],"for":[112],"adaptive":[113],"through":[118],"semi-active":[120],"driving":[121],"mechanism,":[122],"maximum":[124],"range":[127,170],"presented":[130],"0.455N/mm":[134],"$\\sim":[135],"3.365\\mathrm{N}":[136],"/$":[137],"mm.":[138],"also":[141],"design":[145,177],"good":[147],"repeatability":[148],"accuracy.":[149],"proposed":[151],"advantages":[158],"simple":[160],"reliable":[162],"structure,":[163],"low":[164],"processing":[165],"cost":[166],"wide":[169],"variation.":[173],"Thus,":[174],"novel":[176],"potential":[180],"application":[183],"practical":[185],"robots.":[187]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
