{"id":"https://openalex.org/W2972852105","doi":"https://doi.org/10.1109/icarm.2019.8833920","title":"Development of A Parallel-elastic Robot Leg for Loaded Jumping","display_name":"Development of A Parallel-elastic Robot Leg for Loaded Jumping","publication_year":2019,"publication_date":"2019-07-01","ids":{"openalex":"https://openalex.org/W2972852105","doi":"https://doi.org/10.1109/icarm.2019.8833920","mag":"2972852105"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2019.8833920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","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/A5087270861","display_name":"Zewen He","orcid":null},"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":true,"raw_author_name":"Zewen He","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009075586","display_name":"Fei Meng","orcid":"https://orcid.org/0000-0002-3953-7978"},"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":"Fei Meng","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112570290","display_name":"Xuxiao Fan","orcid":null},"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":"Xuxiao Fan","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024965069","display_name":"Ru Kang","orcid":"https://orcid.org/0000-0001-9357-9792"},"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":"Ru Kang","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076578923","display_name":"Shengkai Liu","orcid":"https://orcid.org/0000-0001-8778-057X"},"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":"Shengkai Liu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022860564","display_name":"Huaxin Liu","orcid":"https://orcid.org/0000-0002-3382-8627"},"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":"Huaxin Liu","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, 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 Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077424084","display_name":"Mingyue Qin","orcid":"https://orcid.org/0000-0002-3352-6821"},"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":"Mingyue Qin","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Haidian, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084234078","display_name":"Aiguo Ming","orcid":"https://orcid.org/0000-0003-2961-0884"},"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":"Aiguo Ming","raw_affiliation_strings":["Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073785112","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-5455-9454"},"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 Robots and Systems, Beijing Institute of Technology, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5087270861"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.2934,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55446963,"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":"420","last_page":"425"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9958000183105469,"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":0.9629999995231628,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.8598042130470276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5997017025947571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674319863319397},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29416054487228394},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.08152887225151062}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.8598042130470276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5997017025947571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674319863319397},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29416054487228394},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.08152887225151062},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2019.8833920","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2019.8833920","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE 4th International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1519339220","https://openalex.org/W1549114171","https://openalex.org/W1763240259","https://openalex.org/W1967798374","https://openalex.org/W1974902982","https://openalex.org/W1980780059","https://openalex.org/W2010310221","https://openalex.org/W2101674304","https://openalex.org/W2104989883","https://openalex.org/W2171996789","https://openalex.org/W2213414206","https://openalex.org/W2295130897","https://openalex.org/W2415236821","https://openalex.org/W2415959992","https://openalex.org/W2560658338","https://openalex.org/W2771944259","https://openalex.org/W2773451156","https://openalex.org/W4239578492","https://openalex.org/W6632872799"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W648845647","https://openalex.org/W2381882558","https://openalex.org/W4388849567","https://openalex.org/W2486266915","https://openalex.org/W964501512","https://openalex.org/W2102267190","https://openalex.org/W1995093229","https://openalex.org/W2363955986","https://openalex.org/W2318030984"],"abstract_inverted_index":{"Legged":[0],"robot":[1,58,69,104,122,158],"in":[2,8,13,18,121,153,167],"middle-large":[3],"size":[4],"has":[5,21],"limited":[6],"capacity":[7],"jumping":[9,50,155,169],"especially":[10],"when":[11],"loaded":[12,63,140,154,165],"practical":[14],"situation.":[15],"Parallel":[16,89],"elasticity":[17,42],"motor-driven":[19],"joint":[20],"a":[22,54,77,86,96,112,129,163],"primary":[23],"advantage":[24],"that":[25],"the":[26,36,68,108,132,139,151,157],"spring":[27,79,177],"force":[28],"will":[29],"help":[30],"to":[31,102,125],"increase":[32],"resultant":[33],"torque":[34],"exceeding":[35],"motor\u2019s":[37],"performance":[38,48],"limitation,":[39],"which":[40,60,84,138,160],"serial":[41],"does":[43],"not.":[44],"To":[45],"achieve":[46],"good":[47],"for":[49,111],"motion,":[51],"we":[52],"design":[53,123],"novel":[55],"parallel":[56,72,133],"elastic":[57],"leg,":[59,159],"could":[61,161],"realize":[62],"high":[64],"jump.":[65,114],"Structure":[66],"of":[67,88,131,148,156,171],"leg":[70,134],"uses":[71],"four-bar":[73],"mechanism":[74],"equipped":[75],"with":[76],"tension":[78],"across":[80],"two":[81],"hinge":[82],"points,":[83],"is":[85,100,135],"pattern":[87],"Elastic":[90],"Actuation":[91],"(PEA).":[92],"In":[93],"this":[94],"paper,":[95],"simplified":[97],"principle":[98],"model":[99],"constructed":[101],"analyze":[103],"dynamics,":[105],"and":[106,180],"simulate":[107],"motion":[109],"trajectory":[110],"maximum-height":[113],"Then,":[115],"several":[116],"hardware":[117],"principles":[118],"are":[119,144],"followed":[120],"conforming":[124],"spring-mass":[126],"model.":[127],"Moreover,":[128],"prototype":[130],"developed,":[136],"on":[137],"vertical":[141,164],"jump":[142,166],"experiments":[143],"achieved.":[145],"The":[146],"results":[147],"experiment":[149],"validate":[150],"ability":[152],"implement":[162],"maximum":[168],"height":[170],"30cm":[172],"(total":[173],"mass":[174],"6.":[175],"5kg,":[176],"stiffness":[178],"225N/m)":[179],"33cm":[181],"(10kg,":[182],"450N/m).":[183]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-01-13T01:12:25.745995","created_date":"2025-10-10T00:00:00"}
