{"id":"https://openalex.org/W2783440231","doi":"https://doi.org/10.1109/humanoids.2017.8246945","title":"uBot-7: A dynamically balancing mobile manipulator with series elastic actuators","display_name":"uBot-7: A dynamically balancing mobile manipulator with series elastic actuators","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2783440231","doi":"https://doi.org/10.1109/humanoids.2017.8246945","mag":"2783440231"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5040011464","display_name":"Dirk Ruiken","orcid":"https://orcid.org/0009-0000-7016-6928"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dirk Ruiken","raw_affiliation_strings":["Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028076641","display_name":"Jonathan P. Cummings","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan P. Cummings","raw_affiliation_strings":["Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012022290","display_name":"Uday R. Savaria","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Uday R. Savaria","raw_affiliation_strings":["Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Perceptual Robotics, University of Massachusetts, Amherst, USA","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008979536","display_name":"Frank C. Sup","orcid":"https://orcid.org/0000-0002-6290-9805"},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Frank C. Sup","raw_affiliation_strings":["University of Massachusetts Amherst, Amherst, MA, US"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Massachusetts Amherst, Amherst, MA, US","institution_ids":["https://openalex.org/I24603500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111628193","display_name":"Roderic A. Grupen","orcid":null},"institutions":[{"id":"https://openalex.org/I24603500","display_name":"University of Massachusetts Amherst","ror":"https://ror.org/0072zz521","country_code":"US","type":"education","lineage":["https://openalex.org/I24603500"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Roderic A. Grupen","raw_affiliation_strings":["Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, USA","institution_ids":["https://openalex.org/I24603500"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.9188,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.74206614,"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":"676","last_page":"682"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10879","display_name":"Robotic Locomotion and Control","score":0.9973000288009644,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9921000003814697,"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/actuator","display_name":"Actuator","score":0.7096260786056519},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.678641676902771},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.6744702458381653},{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.6371617317199707},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5839248299598694},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5794038772583008},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5622619390487671},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5367198586463928},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.5000193119049072},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4669528901576996},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.46110445261001587},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43566375970840454},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.394252210855484},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3222993314266205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2705664038658142},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1283586323261261},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0947122871875763}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7096260786056519},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.678641676902771},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.6744702458381653},{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.6371617317199707},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5839248299598694},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5794038772583008},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5622619390487671},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5367198586463928},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.5000193119049072},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4669528901576996},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.46110445261001587},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43566375970840454},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.394252210855484},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3222993314266205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2705664038658142},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1283586323261261},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0947122871875763},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246945","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246945","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.800000011920929,"display_name":"Life below water"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W177265832","https://openalex.org/W294477637","https://openalex.org/W1536563190","https://openalex.org/W1898967462","https://openalex.org/W1967377907","https://openalex.org/W1972588742","https://openalex.org/W1977222953","https://openalex.org/W1992338761","https://openalex.org/W2022776996","https://openalex.org/W2085126194","https://openalex.org/W2107491666","https://openalex.org/W2111253117","https://openalex.org/W2122827816","https://openalex.org/W2123860492","https://openalex.org/W2128403895","https://openalex.org/W2138671676","https://openalex.org/W2153000379","https://openalex.org/W2160686985","https://openalex.org/W2162488100","https://openalex.org/W2162930614","https://openalex.org/W2165768966","https://openalex.org/W2182477461","https://openalex.org/W2298175437","https://openalex.org/W2566774760","https://openalex.org/W2567105891","https://openalex.org/W2568972189","https://openalex.org/W2724698453","https://openalex.org/W2758001473","https://openalex.org/W2901136733","https://openalex.org/W2990651410","https://openalex.org/W6639578447","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2318553114","https://openalex.org/W2058088690","https://openalex.org/W2369073421","https://openalex.org/W45990023","https://openalex.org/W2086597735","https://openalex.org/W2066639517","https://openalex.org/W2052143774"],"abstract_inverted_index":{"We":[0,53],"present":[1],"the":[2,6,9,55,62,93,107,110,131,139,149,161],"next":[3],"generation":[4],"of":[5,16,109,130,138,160],"uBot":[7,51],"series:":[8],"uBot-7":[10],"mobile":[11,31],"manipulator":[12,32],"with":[13,33,64,98,120],"14":[14],"degrees":[15],"freedom,":[17],"95":[18],"cm":[19],"tall,":[20],"weighing":[21],"about":[22],"27":[23],"kg.":[24],"The":[25,43,115,158],"robot":[26,111,162],"is":[27,45],"a":[28,142],"new,":[29],"unique":[30],"great":[34],"versatility":[35],"to":[36,66,101],"solve":[37],"tasks":[38],"in":[39],"mobility":[40],"and":[41,57,60,72,85,124,156],"manipulation.":[42],"design":[44,159],"based":[46],"on":[47],"experiences":[48],"from":[49,148],"previous":[50],"generations.":[52],"detail":[54],"mechanical":[56],"electrical":[58],"layout":[59],"highlight":[61],"improvements":[63],"regards":[65],"its":[67],"predecessor":[68],"uBot-6.":[69],"All":[70],"arm":[71],"torso":[73],"joints":[74],"are":[75],"driven":[76],"by":[77],"series":[78],"elastic":[79],"actuators":[80],"(SEAs)":[81],"for":[82,134],"better":[83],"sensing":[84],"safer":[86],"interaction":[87],"around":[88],"humans.":[89],"This":[90],"makes":[91],"it":[92],"first":[94],"wheeled":[95],"dynamic":[96],"balancer":[97],"SEAs.":[99],"Upgrades":[100],"stronger":[102],"brushless":[103],"DC":[104],"motors":[105,123],"improve":[106],"strength":[108],"more":[112,154],"than":[113],"twofold.":[114],"head":[116],"has":[117],"been":[118],"extended":[119],"two":[121],"additional":[122],"now":[125],"offers":[126],"independent":[127],"viewpoint":[128],"control":[129],"RGB-D":[132],"camera":[133],"all":[135],"postural":[136],"configurations":[137],"robot.":[140],"Finally,":[141],"new":[143],"drive":[144],"train":[145],"removes":[146],"backlash":[147],"base":[150],"wheels":[151],"while":[152],"providing":[153],"torque":[155],"speed.":[157],"will":[163],"be":[164],"released":[165],"as":[166],"open-source.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}