{"id":"https://openalex.org/W4390481202","doi":"https://doi.org/10.1109/humanoids57100.2023.10375188","title":"Control- &amp; Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming","display_name":"Control- &amp; Task-Aware Optimal Design of Actuation System for Legged Robots Using Binary Integer Linear Programming","publication_year":2023,"publication_date":"2023-12-12","ids":{"openalex":"https://openalex.org/W4390481202","doi":"https://doi.org/10.1109/humanoids57100.2023.10375188"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids57100.2023.10375188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd 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/A5010758212","display_name":"Youngwoo Sim","orcid":"https://orcid.org/0000-0002-8976-6621"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Youngwoo Sim","raw_affiliation_strings":["University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083626035","display_name":"Guillermo Colin","orcid":null},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Guillermo Colin","raw_affiliation_strings":["University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025315784","display_name":"Jo\u00e3o Ramos","orcid":"https://orcid.org/0000-0002-3562-0117"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joao Ramos","raw_affiliation_strings":["University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA"],"affiliations":[{"raw_affiliation_string":"University of Illinois at Urbana,Department of Mechanical Science and Engineering,Champaign,USA","institution_ids":["https://openalex.org/I157725225"]},{"raw_affiliation_string":"Department of Mechanical Science and Engineering, University of Illinois at Urbana, Champaign, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5010758212"],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":0.225,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50134952,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9843000173568726,"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/computer-science","display_name":"Computer science","score":0.6326066851615906},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6263047456741333},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5932171940803528},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5829689502716064},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.566806435585022},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5390230417251587},{"id":"https://openalex.org/keywords/optimal-design","display_name":"Optimal design","score":0.4936774671077728},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.49301859736442566},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.4549001455307007},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.454159140586853},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43510884046554565},{"id":"https://openalex.org/keywords/integer-programming","display_name":"Integer programming","score":0.43409040570259094},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2196803092956543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17465165257453918},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16008928418159485},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12294906377792358},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08925068378448486}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6326066851615906},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6263047456741333},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5932171940803528},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5829689502716064},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.566806435585022},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5390230417251587},{"id":"https://openalex.org/C186394612","wikidata":"https://www.wikidata.org/wiki/Q7098942","display_name":"Optimal design","level":2,"score":0.4936774671077728},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.49301859736442566},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.4549001455307007},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.454159140586853},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43510884046554565},{"id":"https://openalex.org/C56086750","wikidata":"https://www.wikidata.org/wiki/Q6042592","display_name":"Integer programming","level":2,"score":0.43409040570259094},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2196803092956543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17465165257453918},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16008928418159485},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12294906377792358},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08925068378448486},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids57100.2023.10375188","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids57100.2023.10375188","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Partnerships for the goals","id":"https://metadata.un.org/sdg/17","score":0.46000000834465027}],"awards":[{"id":"https://openalex.org/G6627193063","display_name":null,"funder_award_id":"CMMI-2043339","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"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":24,"referenced_works":["https://openalex.org/W2034901143","https://openalex.org/W2066379939","https://openalex.org/W2074142876","https://openalex.org/W2099824239","https://openalex.org/W2152916401","https://openalex.org/W2157055752","https://openalex.org/W2170519810","https://openalex.org/W2295130897","https://openalex.org/W2556729043","https://openalex.org/W2573227850","https://openalex.org/W2736021157","https://openalex.org/W2889614829","https://openalex.org/W2971948046","https://openalex.org/W3012148556","https://openalex.org/W3047039444","https://openalex.org/W3143373178","https://openalex.org/W3182111616","https://openalex.org/W3193914824","https://openalex.org/W3206363598","https://openalex.org/W3206982864","https://openalex.org/W4213255380","https://openalex.org/W4221164057","https://openalex.org/W4285102619","https://openalex.org/W4313563020"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W2294490033","https://openalex.org/W4386036352","https://openalex.org/W3213378276","https://openalex.org/W2077400647","https://openalex.org/W2490690736","https://openalex.org/W2009592572","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W1985052846"],"abstract_inverted_index":{"Athletic":[0],"robots":[1,21],"demand":[2],"a":[3,37,63,123,137,172],"whole-body":[4],"actuation":[5,51,193],"system":[6,52,162],"design":[7,26,32,38,46,91,114,134,177],"that":[8,40,53,120],"utilizes":[9],"motors":[10,159],"up":[11],"to":[12,43,48,61,116],"the":[13,145,154,161,164],"boundaries":[14],"of":[15,24,30,66,89,125,136,147,157,166,175,186,191],"their":[16],"performance.":[17],"However,":[18],"creating":[19],"such":[20,96],"poses":[22],"challenges":[23],"integrating":[25],"principles":[27],"and":[28,58,71,93,101,106,163,179,188],"reasoning":[29],"practical":[31],"choices.":[33],"This":[34],"paper":[35],"presents":[36],"framework":[39,77,128],"guides":[41],"designers":[42,84],"find":[44,117],"optimal":[45,118,133,192],"choices":[47,178],"create":[49],"an":[50,80],"can":[54,121],"rapidly":[55],"generate":[56],"torques":[57],"velocities":[59],"required":[60],"achieve":[62,122],"given":[64],"set":[65,124],"tasks,":[67],"by":[68],"minimizing":[69],"inertia":[70],"leveraging":[72],"cooperation":[73],"between":[74,104],"actuators.":[75],"The":[76,127,169],"serves":[78],"as":[79,97],"interactive":[81],"tool":[82],"for":[83],"who":[85],"are":[86],"in":[87,160],"charge":[88],"providing":[90],"rules":[92,180],"candidate":[94],"components":[95,119],"motors,":[98,187],"reduction":[99],"mechanism,":[100],"coupling":[102,167],"mechanisms":[103],"actuators":[105],"joints.":[107],"A":[108],"binary":[109],"integer":[110],"linear":[111],"optimization":[112],"explores":[113],"combinations":[115],"tasks.":[126],"is":[129],"demonstrated":[130],"with":[131,139],"200":[132],"studies":[135],"biped":[138],"5-degree-of-freedom":[140],"(DoF)":[141],"legs,":[142],"focusing":[143],"on":[144],"effect":[146],"achieving":[148],"multiple":[149],"tasks":[150],"(walking,":[151],"lifting),":[152],"constraining":[153],"mass":[155],"budget":[156],"all":[158],"use":[165],"mechanisms.":[168],"result":[170],"provides":[171],"comprehensive":[173],"view":[174],"how":[176],"affect":[181],"reflected":[182],"inertia,":[183],"copper":[184],"loss":[185],"force":[189],"capability":[190],"systems.":[194]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
