{"id":"https://openalex.org/W2761515094","doi":"https://doi.org/10.1109/ccta.2017.8062633","title":"Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M","display_name":"Toward benchmarking locomotion economy across design configurations on the modular robot: AMBER-3M","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2761515094","doi":"https://doi.org/10.1109/ccta.2017.8062633","mag":"2761515094"},"language":"en","primary_location":{"id":"doi:10.1109/ccta.2017.8062633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062633","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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/A5048236839","display_name":"Eric Ambrose","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Eric Ambrose","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101641007","display_name":"Wen-Loong Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Wen-Loong Ma","raw_affiliation_strings":["California Institute of Technology, Pasadena, CA, US"],"affiliations":[{"raw_affiliation_string":"California Institute of Technology, Pasadena, CA, US","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033990176","display_name":"Christian Hubicki","orcid":"https://orcid.org/0000-0002-2092-3772"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christian Hubicki","raw_affiliation_strings":["Christian Hubicki is with the Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA"],"affiliations":[{"raw_affiliation_string":"Christian Hubicki is with the Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA","institution_ids":["https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5039171820","display_name":"Aaron D. Ames","orcid":"https://orcid.org/0000-0003-0848-3177"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Aaron D. Ames","raw_affiliation_strings":["Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA, USA","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048236839"],"corresponding_institution_ids":["https://openalex.org/I122411786"],"apc_list":null,"apc_paid":null,"fwci":3.4424,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.91922919,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1270","last_page":"1276"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9991000294685364,"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/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/modular-design","display_name":"Modular design","score":0.7791736721992493},{"id":"https://openalex.org/keywords/running-economy","display_name":"Running economy","score":0.6595308780670166},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6470953226089478},{"id":"https://openalex.org/keywords/modularity","display_name":"Modularity (biology)","score":0.5614773631095886},{"id":"https://openalex.org/keywords/benchmarking","display_name":"Benchmarking","score":0.555160641670227},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5335659980773926},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.4564424157142639},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4126574993133545},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3893696665763855},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15977507829666138},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11209124326705933}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7791736721992493},{"id":"https://openalex.org/C2778702312","wikidata":"https://www.wikidata.org/wiki/Q7380016","display_name":"Running economy","level":5,"score":0.6595308780670166},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6470953226089478},{"id":"https://openalex.org/C2779478453","wikidata":"https://www.wikidata.org/wiki/Q6889748","display_name":"Modularity (biology)","level":2,"score":0.5614773631095886},{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.555160641670227},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5335659980773926},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4564424157142639},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4126574993133545},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3893696665763855},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15977507829666138},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11209124326705933},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C2777953023","wikidata":"https://www.wikidata.org/wiki/Q1073121","display_name":"Heart rate","level":3,"score":0.0},{"id":"https://openalex.org/C196310339","wikidata":"https://www.wikidata.org/wiki/Q60354","display_name":"VO2 max","level":4,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","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/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C84393581","wikidata":"https://www.wikidata.org/wiki/Q82642","display_name":"Blood pressure","level":2,"score":0.0},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ccta.2017.8062633","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ccta.2017.8062633","pdf_url":null,"source":{"id":"https://openalex.org/S4306498159","display_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE Conference on Control Technology and Applications (CCTA)","raw_type":"proceedings-article"},{"id":"pmh:oai:authors.library.caltech.edu:82443","is_oa":false,"landing_page_url":"https://authors.library.caltech.edu/82443/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402161","display_name":"CaltechAUTHORS (California Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122411786","host_organization_name":"California Institute of Technology","host_organization_lineage":["https://openalex.org/I122411786"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Book Section"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.8500000238418579}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1492366767","https://openalex.org/W1549220217","https://openalex.org/W1912930600","https://openalex.org/W1964386231","https://openalex.org/W1974986187","https://openalex.org/W1979445726","https://openalex.org/W1981717102","https://openalex.org/W1993314711","https://openalex.org/W2022781970","https://openalex.org/W2023392182","https://openalex.org/W2029058516","https://openalex.org/W2029138526","https://openalex.org/W2038557722","https://openalex.org/W2047174209","https://openalex.org/W2071307076","https://openalex.org/W2072286288","https://openalex.org/W2082089015","https://openalex.org/W2088429149","https://openalex.org/W2090373601","https://openalex.org/W2131469482","https://openalex.org/W2143717973","https://openalex.org/W2145327966","https://openalex.org/W2161643831","https://openalex.org/W2170777202","https://openalex.org/W2336281863","https://openalex.org/W2381269752","https://openalex.org/W2409421274","https://openalex.org/W2413990562","https://openalex.org/W2517750521","https://openalex.org/W2561952824","https://openalex.org/W2607187241","https://openalex.org/W6629310206","https://openalex.org/W6684256756","https://openalex.org/W6703373858"],"related_works":["https://openalex.org/W2297768894","https://openalex.org/W2378076731","https://openalex.org/W3109014690","https://openalex.org/W2122405502","https://openalex.org/W3088304681","https://openalex.org/W2114254072","https://openalex.org/W2127721729","https://openalex.org/W2884798239","https://openalex.org/W1531253727","https://openalex.org/W2366669483"],"abstract_inverted_index":{"Making":[0],"conclusive":[1],"performance":[2,145],"comparisons":[3],"of":[4,23,40,74,113,119,123,128,156,173,188],"bipedal":[5,51],"locomotion":[6,106,138],"behaviors":[7],"can":[8],"be":[9],"difficult":[10],"when":[11],"working":[12],"with":[13,87,116,176],"different":[14],"robots.":[15],"This":[16],"is":[17,28],"particularly":[18],"true":[19],"in":[20,44,166],"the":[21,77,93,117,121,126,167,185],"case":[22],"comparing":[24],"energy":[25],"economy,":[26,107],"which":[27],"highly":[29],"dependent":[30],"on":[31,125],"mechanical,":[32,78],"electrical":[33,186],"and":[34,68,80,97],"control":[35,95],"components.":[36],"As":[37,71,100],"a":[38,49,72,101,153],"means":[39],"limiting":[41],"these":[42,150],"disparities":[43],"methodical":[45],"testing,":[46],"we":[47,83,108],"built":[48],"modular":[50],"robot":[52],"platform,":[53],"AMBER-3M.":[54],"Three":[55],"leg":[56],"configurations":[57],"were":[58],"designed":[59],"for":[60,76,104,136],"this":[61],"purpose:":[62],"actuated":[63],"flat":[64],"foot,":[65],"rigid":[66],"point-foot,":[67],"compliant":[69],"point-foot.":[70],"proof":[73],"concept":[75],"electrical,":[79],"algorithmic":[81],"modularity,":[82],"present":[84],"walking":[85,115,134,193],"experiments":[86,112],"all":[88],"three":[89],"AMBER-3M":[90],"configurations,":[91],"using":[92],"same":[94],"methods":[96],"experimental":[98],"procedures.":[99],"pilot":[102],"study":[103],"investigating":[105],"performed":[109],"further":[110],"systematic":[111],"point-foot":[114],"purpose":[118],"examining":[120],"effects":[122],"speed":[124,154],"cost":[127,172,187],"transport":[129,142,174,189],"(COT).":[130],"We":[131],"optimized":[132],"36":[133],"gaits":[135,151],"maximum":[137],"economy":[139],"at":[140,191],"various":[141],"velocities.":[143],"Walking":[144],"data":[146],"was":[147,164],"collected":[148],"from":[149,179],"spanning":[152],"range":[155],"0.34":[157],"to":[158,182],"0.94m/s.":[159],"An":[160],"apparent":[161],"Pareto-optimal":[162],"frontier":[163],"observed":[165],"data,":[168],"showing":[169],"that":[170],"mechanical":[171],"increases":[175],"speed;":[177],"ranging":[178],"0.22":[180],"up":[181],"0.36.":[183],"Conversely,":[184],"decreased":[190],"higher":[192],"speeds.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2017,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
