{"id":"https://openalex.org/W3205118211","doi":"https://doi.org/10.1109/humanoids47582.2021.9555679","title":"A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint","display_name":"A vertical jump optimization strategy for one-legged robot with variable reduction ratio joint","publication_year":2021,"publication_date":"2021-07-19","ids":{"openalex":"https://openalex.org/W3205118211","doi":"https://doi.org/10.1109/humanoids47582.2021.9555679","mag":"3205118211"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids47582.2021.9555679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (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/A5063434745","display_name":"Haoxiang Qi","orcid":"https://orcid.org/0000-0003-0796-3750"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haoxiang Qi","raw_affiliation_strings":["School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036815754","display_name":"Gao Huang","orcid":"https://orcid.org/0000-0002-1584-7744"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gao Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048381186","display_name":"Libo Meng","orcid":"https://orcid.org/0000-0001-9980-3054"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Libo Meng","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I16656306","display_name":"Meiji University","ror":"https://ror.org/02rqvrp93","country_code":"JP","type":"education","lineage":["https://openalex.org/I16656306"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Humanoid Robotics Institute (HRI), Waseda University, Japan","School of Science and Technology, Meiji University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Robotics Institute (HRI), Waseda University, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"School of Science and Technology, Meiji University, Japan","institution_ids":["https://openalex.org/I16656306"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078029942","display_name":"Wenxi Liao","orcid":"https://orcid.org/0000-0003-2862-2429"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenxi Liao","raw_affiliation_strings":["School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5028551930","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-7111-8597"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robotics and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"School of Mechantronical Engineering, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5095,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.60834667,"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":"262","last_page":"267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962999820709229,"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":0.9944999814033508,"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/reduction","display_name":"Reduction (mathematics)","score":0.6771936416625977},{"id":"https://openalex.org/keywords/jump","display_name":"Jump","score":0.6189379096031189},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.601169228553772},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5398356914520264},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.5193994045257568},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.498699426651001},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49850893020629883},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2299535870552063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21494054794311523},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20493674278259277},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13909724354743958},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10002094507217407},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09077626466751099},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07825902104377747},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.04937395453453064}],"concepts":[{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.6771936416625977},{"id":"https://openalex.org/C2780695682","wikidata":"https://www.wikidata.org/wiki/Q4005959","display_name":"Jump","level":2,"score":0.6189379096031189},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.601169228553772},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5398356914520264},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.5193994045257568},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.498699426651001},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49850893020629883},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2299535870552063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21494054794311523},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20493674278259277},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13909724354743958},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10002094507217407},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09077626466751099},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07825902104377747},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.04937395453453064},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids47582.2021.9555679","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids47582.2021.9555679","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320337504","display_name":"Research and Development","ror":"https://ror.org/027s68j25"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W79605547","https://openalex.org/W2029394778","https://openalex.org/W2048049195","https://openalex.org/W2074421808","https://openalex.org/W2134472919","https://openalex.org/W2137220943","https://openalex.org/W2139252876","https://openalex.org/W2149595541","https://openalex.org/W2152526735","https://openalex.org/W2161427949","https://openalex.org/W2560658338","https://openalex.org/W2883488766","https://openalex.org/W2890421436","https://openalex.org/W2922152268","https://openalex.org/W2944985449","https://openalex.org/W3004365032","https://openalex.org/W3012013006","https://openalex.org/W3089464620","https://openalex.org/W3133214991","https://openalex.org/W6679732647","https://openalex.org/W6791541377"],"related_works":["https://openalex.org/W2351666715","https://openalex.org/W1967543778","https://openalex.org/W2757332726","https://openalex.org/W2382902960","https://openalex.org/W2369384937","https://openalex.org/W2793265400","https://openalex.org/W2352146386","https://openalex.org/W1996130883","https://openalex.org/W2748574964","https://openalex.org/W2490674474"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,9,137,144],"vertical":[4],"jump":[5,33,76,134],"optimization":[6,81],"strategy":[7],"for":[8],"one-legged":[10,138],"robot":[11,139],"with":[12,86,100,143],"consideration":[13],"of":[14,23,51,60,67,70,82,127,146],"its":[15,30],"variable":[16,129],"reduction":[17,40,130],"ratio":[18,131],"joints.":[19],"Firstly,":[20],"the":[21,24,39,45,48,57,65,68,75,98,116,125,128],"characteristic":[22],"joint":[25,107],"is":[26,36,53,84,94,110,121,141],"derived":[27],"to":[28,38,44,55,63,88,96,112,123],"obtain":[29],"influence":[31],"on":[32,136],"motion,":[34],"which":[35],"similar":[37],"ratio.":[41],"Secondly,":[42],"referring":[43],"joint\u2019s":[46],"characteristic,":[47],"initial":[49,58],"posture":[50],"jumping":[52,90],"optimized":[54],"maximize":[56],"acceleration":[59],"jumping.":[61],"Then,":[62],"generate":[64],"trajectory":[66,99],"center":[69],"mass":[71],"(CoM)":[72],"and":[73,114],"make":[74],"motion":[77],"more":[78],"efficient,":[79],"nonlinear":[80],"CoM":[83],"adopted":[85,111],"respect":[87],"human":[89],"data.":[91],"Full-body":[92],"dynamics":[93],"considered":[95],"track":[97],"virtual":[101],"force":[102],"control.":[103],"For":[104],"flight":[105],"phase,":[106],"PD":[108],"controller":[109],"decelerate":[113],"maintain":[115],"posture.":[117],"A":[118],"contrast":[119],"simulation":[120],"implemented":[122],"demonstrate":[124],"characteristics":[126],"joint.":[132],"Vertical":[133],"experiment":[135],"platform":[140],"realized":[142],"height":[145],"30":[147],"cm.":[148]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}