{"id":"https://openalex.org/W4287845172","doi":"https://doi.org/10.1109/cacre54574.2022.9834177","title":"Topology Optimization of Biped Robot Based on Rigid-flexible Coupling Dynamics","display_name":"Topology Optimization of Biped Robot Based on Rigid-flexible Coupling Dynamics","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4287845172","doi":"https://doi.org/10.1109/cacre54574.2022.9834177"},"language":"en","primary_location":{"id":"doi:10.1109/cacre54574.2022.9834177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre54574.2022.9834177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE)","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/A5100322310","display_name":"Lan Zhang","orcid":"https://orcid.org/0000-0002-7718-6128"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lan Zhang","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013942657","display_name":"Guanyu Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanyu Huang","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039356472","display_name":"Shiqiang Zhu","orcid":"https://orcid.org/0000-0002-5687-4001"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shiqiang Zhu","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010512193","display_name":"Lingyu Kong","orcid":"https://orcid.org/0000-0002-5484-8440"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingyu Kong","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032102869","display_name":"Anhuan Xie","orcid":"https://orcid.org/0000-0002-8348-0067"},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Anhuan Xie","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089683469","display_name":"Lingkai Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210123185","display_name":"Zhejiang Lab","ror":"https://ror.org/02m2h7991","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210123185"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lingkai Chen","raw_affiliation_strings":["Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Zhejiang Lab,Intelligent Robot Research Center,Hangzhou,China","institution_ids":["https://openalex.org/I4210123185"]},{"raw_affiliation_string":"Intelligent Robot Research Center, Zhejiang Lab, Hangzhou, China","institution_ids":["https://openalex.org/I4210123185"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100456041","display_name":"Dan Zhang","orcid":"https://orcid.org/0000-0002-7295-4837"},"institutions":[{"id":"https://openalex.org/I192455969","display_name":"York University","ror":"https://ror.org/05fq50484","country_code":"CA","type":"education","lineage":["https://openalex.org/I192455969"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Dan Zhang","raw_affiliation_strings":["York University,Department of Mechanical Engineering,Toronto,Canada","Department of Mechanical Engineering, York University, Toronto, Canada"],"affiliations":[{"raw_affiliation_string":"York University,Department of Mechanical Engineering,Toronto,Canada","institution_ids":["https://openalex.org/I192455969"]},{"raw_affiliation_string":"Department of Mechanical Engineering, York University, Toronto, Canada","institution_ids":["https://openalex.org/I192455969"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100322310"],"corresponding_institution_ids":["https://openalex.org/I4210123185"],"apc_list":null,"apc_paid":null,"fwci":0.5609,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.61503437,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"14","last_page":"19"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11115","display_name":"Topology Optimization in Engineering","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T11115","display_name":"Topology Optimization in Engineering","score":0.9994999766349792,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9452000260353088,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13567","display_name":"AI and Multimedia in Education","score":0.9228000044822693,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/statics","display_name":"Statics","score":0.7765088081359863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6788581609725952},{"id":"https://openalex.org/keywords/topology-optimization","display_name":"Topology optimization","score":0.642044186592102},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.629006028175354},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6066912412643433},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6016557216644287},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5905841588973999},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5813009738922119},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.531277060508728},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45486870408058167},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32555657625198364},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.20060935616493225},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.18853792548179626},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16795942187309265},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13744187355041504},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11776262521743774},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07422345876693726}],"concepts":[{"id":"https://openalex.org/C35441770","wikidata":"https://www.wikidata.org/wiki/Q169019","display_name":"Statics","level":2,"score":0.7765088081359863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6788581609725952},{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.642044186592102},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.629006028175354},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6066912412643433},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6016557216644287},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5905841588973999},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5813009738922119},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.531277060508728},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45486870408058167},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32555657625198364},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.20060935616493225},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.18853792548179626},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16795942187309265},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13744187355041504},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11776262521743774},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07422345876693726},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre54574.2022.9834177","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre54574.2022.9834177","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 7th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W585590101","https://openalex.org/W1575923498","https://openalex.org/W1993103740","https://openalex.org/W1995067704","https://openalex.org/W2064737359","https://openalex.org/W2068668671","https://openalex.org/W2069697210","https://openalex.org/W2122397978","https://openalex.org/W2136919888","https://openalex.org/W2139255095","https://openalex.org/W2258851456","https://openalex.org/W2332920146","https://openalex.org/W2540089437","https://openalex.org/W2540708670","https://openalex.org/W2543039240","https://openalex.org/W2546210067","https://openalex.org/W2612639626","https://openalex.org/W2902578542","https://openalex.org/W2983885174","https://openalex.org/W3039115210","https://openalex.org/W3134192737","https://openalex.org/W3160812283"],"related_works":["https://openalex.org/W2375706956","https://openalex.org/W1996212220","https://openalex.org/W2322736056","https://openalex.org/W2391287140","https://openalex.org/W2374158927","https://openalex.org/W2013165546","https://openalex.org/W2262385477","https://openalex.org/W1985187500","https://openalex.org/W2113788199","https://openalex.org/W2055546358"],"abstract_inverted_index":{"Lightweight":[0],"design":[1],"is":[2,64,71,109,115,128,144,160],"an":[3,192],"important":[4],"issue":[5],"in":[6,55,85,90,111,141],"the":[7,16,38,52,62,75,81,124,132,135,138,148,165,178,197],"research":[8],"of":[9,40,48,77,83,137,151,168,173,177,199],"biped":[10,46,179,200],"robots":[11,47,201],"since":[12],"it":[13],"can":[14,190],"improve":[15,196],"energy":[17],"efficiency":[18,89],"and":[19,88,104,121,175,185],"economy.":[20],"Topology":[21],"optimization,":[22,134],"mostly":[23],"based":[24,97],"on":[25,98,123,164],"static":[26,56],"analysis":[27,57,70,87,102,107],"or":[28],"multi-body":[29,68],"dynamic":[30,69,91,101],"analysis,":[31,92],"has":[32],"been":[33],"widely":[34],"used":[35,129],"to":[36,74,117,130,162,195],"reduce":[37],"weights":[39,172],"robots.":[41],"However,":[42],"when":[43],"dealing":[44],"with":[45,153,206],"high":[49],"kinematic":[50],"performance,":[51],"fixed":[53],"constraints":[54],"often":[58],"bring":[59],"errors":[60],"because":[61],"acceleration":[63],"not":[65],"considered":[66],"while":[67],"time-consuming":[72],"due":[73],"complexity":[76],"calculation.":[78],"To":[79],"solve":[80],"problem":[82],"accuracy":[84],"statics":[86],"a":[93],"topology":[94,133],"optimization":[95],"method":[96,139,189],"rigid-flexible":[99],"coupling":[100],"(R-FCDA)":[103],"inertia":[105],"relief":[106],"(IRA)":[108],"proposed":[110,140],"this":[112,142,169],"paper.":[113],"R-FCDA":[114],"applied":[116],"obtain":[118],"stress":[119,149],"contours":[120],"loads":[122],"joints.":[125],"Before":[126],"IRA":[127,152],"implement":[131],"precision":[136],"paper":[143],"checked":[145],"by":[146,156,183],"comparing":[147],"results":[150],"those":[154],"obtained":[155],"R-FCDA.":[157],"An":[158],"example":[159],"given":[161],"elaborate":[163],"mass-reducing":[166],"ability":[167],"method:":[170],"The":[171,188],"thigh":[174],"shin":[176],"robot":[180],"are":[181],"reduced":[182],"15.69%":[184],"9.09%":[186],"respectively.":[187],"be":[191],"effective":[193],"way":[194],"performance":[198],"as":[202,204],"well":[203],"structures":[205],"complex":[207],"motion":[208],"conditions.":[209]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}