{"id":"https://openalex.org/W2026040367","doi":"https://doi.org/10.1109/humanoids.2014.7041490","title":"Can active impedance protect robots from landing impact?","display_name":"Can active impedance protect robots from landing impact?","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2026040367","doi":"https://doi.org/10.1109/humanoids.2014.7041490","mag":"2026040367"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5027548256","display_name":"Houman Dallali","orcid":"https://orcid.org/0000-0002-4357-4907"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Houman Dallali","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Petar Kormushev","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnolog\u00eda, via Morego, 30, 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5027548256"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.9341,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.74570874,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1022","last_page":"1027"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.989799976348877,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9799000024795532,"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/electrical-impedance","display_name":"Electrical impedance","score":0.7028924226760864},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6793076992034912},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6110517978668213},{"id":"https://openalex.org/keywords/shock-absorber","display_name":"Shock absorber","score":0.5251588225364685},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5223346948623657},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.5023572444915771},{"id":"https://openalex.org/keywords/transmissibility","display_name":"Transmissibility (structural dynamics)","score":0.4664665460586548},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44495290517807007},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4102640151977539},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3427247107028961},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14236107468605042},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12386670708656311},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12135937809944153},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1207021176815033},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.11722439527511597},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09738844633102417}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.7028924226760864},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6793076992034912},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6110517978668213},{"id":"https://openalex.org/C190743461","wikidata":"https://www.wikidata.org/wiki/Q211251","display_name":"Shock absorber","level":2,"score":0.5251588225364685},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5223346948623657},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.5023572444915771},{"id":"https://openalex.org/C16683452","wikidata":"https://www.wikidata.org/wiki/Q7834601","display_name":"Transmissibility (structural dynamics)","level":4,"score":0.4664665460586548},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44495290517807007},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4102640151977539},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3427247107028961},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14236107468605042},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12386670708656311},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12135937809944153},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1207021176815033},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.11722439527511597},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09738844633102417},{"id":"https://openalex.org/C45799244","wikidata":"https://www.wikidata.org/wiki/Q109968206","display_name":"Vibration isolation","level":3,"score":0.0},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041490","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041490","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/26050","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/26050","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W368770392","https://openalex.org/W1527940619","https://openalex.org/W1838951261","https://openalex.org/W1963515231","https://openalex.org/W1972925450","https://openalex.org/W1977655452","https://openalex.org/W1982437470","https://openalex.org/W2025021079","https://openalex.org/W2101786389","https://openalex.org/W2112361218","https://openalex.org/W2116139612","https://openalex.org/W2124267516","https://openalex.org/W2129017877","https://openalex.org/W2129936198","https://openalex.org/W2130329603","https://openalex.org/W2136885272","https://openalex.org/W2144643808","https://openalex.org/W2157722032","https://openalex.org/W2159493197","https://openalex.org/W2328100157","https://openalex.org/W2914656440","https://openalex.org/W4205918232","https://openalex.org/W4242491476","https://openalex.org/W6679134985","https://openalex.org/W6683526146"],"related_works":["https://openalex.org/W2323035660","https://openalex.org/W1548357495","https://openalex.org/W2568654694","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/W2785665096"],"abstract_inverted_index":{"This":[0],"paper":[1],"studies":[2],"the":[3,26,30,34,88,93,102,109,113],"effect":[4],"of":[5,19,29,49,95],"passive":[6,27,96],"and":[7,78,111],"active":[8,38,103],"impedance":[9,28,39,97,104],"for":[10,24,101],"protecting":[11],"jumping":[12],"robots":[13],"from":[14,115],"landing":[15],"impacts.":[16],"The":[17,37],"theory":[18],"force":[20],"transmissibility":[21],"is":[22,40,57,60,91],"used":[23],"selecting":[25],"system":[31],"to":[32,106,108],"minimize":[33],"shock":[35],"propagation.":[36],"regulated":[41],"online":[42],"by":[43],"a":[44,52,80],"joint-level":[45],"controller.":[46],"On":[47],"top":[48],"this":[50],"controller,":[51],"reflex-based":[53],"leg":[54],"retraction":[55],"scheme":[56],"implemented":[58],"which":[59],"optimized":[61],"using":[62],"direct":[63],"policy":[64],"search":[65],"reinforcement":[66],"learning":[67],"based":[68],"on":[69,79],"particle":[70],"filtering.":[71],"Experiments":[72],"are":[73],"conducted":[74],"both":[75],"in":[76],"simulation":[77],"real-world":[81],"hopping":[82],"leg.":[83],"We":[84],"show":[85],"that":[86],"although":[87],"impact":[89,110],"dynamics":[90],"fast,":[92],"addition":[94],"provides":[98],"enough":[99],"time":[100],"controller":[105],"react":[107],"protect":[112],"robot":[114],"damage.":[116]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
