{"id":"https://openalex.org/W2782669991","doi":"https://doi.org/10.1109/humanoids.2017.8246950","title":"Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems","display_name":"Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2782669991","doi":"https://doi.org/10.1109/humanoids.2017.8246950","mag":"2782669991"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246950","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/A5009026972","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0001-9534-5383"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["Graduate School of Mechanical Engineering, University of Texas at Austin, U.S"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical Engineering, University of Texas at Austin, U.S","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006561606","display_name":"Orion Campbell","orcid":null},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Orion Campbell","raw_affiliation_strings":["Graduate School of Mechanical Engineering, University of Texas at Austin, U.S"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical Engineering, University of Texas at Austin, U.S","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050714612","display_name":"Junhyeok Ahn","orcid":"https://orcid.org/0000-0002-7934-6543"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Junhyeok Ahn","raw_affiliation_strings":["Graduate School of Mechanical Engineering, University of Texas at Austin, U.S"],"affiliations":[{"raw_affiliation_string":"Graduate School of Mechanical Engineering, University of Texas at Austin, U.S","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I86519309","display_name":"The University of Texas at Austin","ror":"https://ror.org/00hj54h04","country_code":"US","type":"education","lineage":["https://openalex.org/I86519309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Aerospace Engineering and Engineering Mechanics, University of Texas at Austin, U.S"],"affiliations":[{"raw_affiliation_string":"Aerospace Engineering and Engineering Mechanics, University of Texas at Austin, U.S","institution_ids":["https://openalex.org/I86519309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020957357","display_name":"Nicholas Paine","orcid":"https://orcid.org/0000-0001-7238-7206"},"institutions":[{"id":"https://openalex.org/I4210127010","display_name":"Apptronik (United States)","ror":"https://ror.org/03rzjkf65","country_code":"US","type":"company","lineage":["https://openalex.org/I4210127010"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nicholas Paine","raw_affiliation_strings":["Chief Technology Officer of Apptronik, Austin, U.S"],"affiliations":[{"raw_affiliation_string":"Chief Technology Officer of Apptronik, Austin, U.S","institution_ids":["https://openalex.org/I4210127010"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5009026972"],"corresponding_institution_ids":["https://openalex.org/I86519309"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.56743523,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"710","last_page":"717"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9958999752998352,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.991599977016449,"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/controllability","display_name":"Controllability","score":0.9117063879966736},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.8697298765182495},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7800405025482178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5643922686576843},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.560994029045105},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5583152174949646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5556520819664001},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5531060099601746},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49525895714759827},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.49049943685531616},{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.47935348749160767},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3788481652736664},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35703274607658386},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3416721522808075},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.25542980432510376},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.2333654761314392},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21698424220085144},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17800849676132202},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12597915530204773},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10681888461112976}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.9117063879966736},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.8697298765182495},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7800405025482178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5643922686576843},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.560994029045105},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5583152174949646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5556520819664001},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5531060099601746},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49525895714759827},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.49049943685531616},{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.47935348749160767},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3788481652736664},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35703274607658386},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3416721522808075},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.25542980432510376},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.2333654761314392},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21698424220085144},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17800849676132202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12597915530204773},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10681888461112976},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8246950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246950","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":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320310620","display_name":"University of Texas at Austin","ror":"https://ror.org/00hj54h04"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1535570778","https://openalex.org/W1554436968","https://openalex.org/W1829015105","https://openalex.org/W1853143499","https://openalex.org/W1888242447","https://openalex.org/W1973805002","https://openalex.org/W1981717102","https://openalex.org/W1996652980","https://openalex.org/W2000550377","https://openalex.org/W2003022159","https://openalex.org/W2029394778","https://openalex.org/W2090143038","https://openalex.org/W2102046115","https://openalex.org/W2106241592","https://openalex.org/W2115676463","https://openalex.org/W2122827816","https://openalex.org/W2135406175","https://openalex.org/W2145166323","https://openalex.org/W2152526632","https://openalex.org/W2157055752","https://openalex.org/W2159220301","https://openalex.org/W2163665518","https://openalex.org/W2169155458","https://openalex.org/W2172164114","https://openalex.org/W2213794149","https://openalex.org/W2214607041","https://openalex.org/W2220306460","https://openalex.org/W2280606320","https://openalex.org/W2326849350","https://openalex.org/W2533352770","https://openalex.org/W2540393540","https://openalex.org/W2547678094","https://openalex.org/W2755767317","https://openalex.org/W2963560370","https://openalex.org/W4250087872","https://openalex.org/W4254437469","https://openalex.org/W6638425340","https://openalex.org/W6728876756"],"related_works":["https://openalex.org/W2036697162","https://openalex.org/W2332386680","https://openalex.org/W2561315646","https://openalex.org/W2248621902","https://openalex.org/W2883256816","https://openalex.org/W2003779889","https://openalex.org/W4205698120","https://openalex.org/W4239246781","https://openalex.org/W2164760767","https://openalex.org/W2542825942"],"abstract_inverted_index":{"To":[0],"significantly":[1],"improve":[2],"actuation":[3],"technology":[4],"for":[5,20,42],"legged":[6,48],"systems,":[7],"we":[8,63],"design,":[9],"build,":[10],"and":[11,57,73,88,116],"empirically":[12],"test":[13],"the":[14,32,70,107,109,124],"viscoelastic":[15,84],"liquid":[16],"cooled":[17],"actuator":[18],"(VLCA)":[19],"use":[21],"in":[22,31],"a":[23,81,99],"robotic":[24],"leg.":[25],"Unlike":[26],"existing":[27],"actuators,":[28],"VLCAs":[29],"excel":[30],"following":[33],"five":[34,71],"critical":[35],"axes":[36],"of":[37,46,80,83],"performance,":[38],"which":[39],"are":[40,91],"essential":[41],"dynamic":[43,96],"motion":[44,97],"control":[45],"practical":[47],"robots:":[49],"energy":[50],"efficiency,":[51],"power":[52,89],"density,":[53],"impact-resistance,":[54],"position":[55],"controllability,":[56],"force":[58],"controllability.":[59],"In":[60,106],"this":[61],"paper,":[62],"explain":[64],"design":[65],"details":[66],"with":[67,98],"respect":[68],"to":[69],"criteria,":[72],"present":[74],"results":[75],"from":[76],"our":[77],"extensive":[78],"study":[79],"variety":[82],"materials.":[85],"Position":[86],"controllability":[87],"density":[90],"experimentally":[92],"evaluated":[93],"by":[94],"demonstrating":[95],"single":[100],"leg":[101],"testbed,":[102],"custom-built":[103],"using":[104],"VLCAs.":[105],"experiment,":[108],"testbed":[110],"shows":[111],"6.1":[112],"rad/s":[113],"maximum":[114,119],"velocity":[115],"240":[117],"Nm":[118],"torque":[120],"while":[121],"accurately":[122],"executing":[123],"commanded":[125],"motions.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
