{"id":"https://openalex.org/W2129719982","doi":"https://doi.org/10.1109/icra.2011.5979941","title":"Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion","display_name":"Experimental investigations into the role of passive variable compliant legs for dynamic robotic locomotion","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2129719982","doi":"https://doi.org/10.1109/icra.2011.5979941","mag":"2129719982"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"conference-paper","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/A5059667511","display_name":"Kevin C. Galloway","orcid":"https://orcid.org/0000-0002-4925-3960"},"institutions":[{"id":"https://openalex.org/I136199984","display_name":"Harvard University","ror":"https://ror.org/03vek6s52","country_code":"US","type":"education","lineage":["https://openalex.org/I136199984"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kevin C. Galloway","raw_affiliation_strings":["Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA 02115, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA, USA","institution_ids":[]},{"raw_affiliation_string":"Wyss Institute for Biologically Inspired Engineering, Harvard University, Boston, MA 02115, USA","institution_ids":["https://openalex.org/I136199984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034041450","display_name":"Jonathan E. Clark","orcid":"https://orcid.org/0000-0002-6790-013X"},"institutions":[{"id":"https://openalex.org/I103163165","display_name":"Florida State University","ror":"https://ror.org/05g3dte14","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165"]},{"id":"https://openalex.org/I1323276237","display_name":"Florida A&M University - Florida State University College of Engineering","ror":"https://ror.org/01v4tq883","country_code":"US","type":"education","lineage":["https://openalex.org/I103163165","https://openalex.org/I1323276237","https://openalex.org/I8248082"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan E. Clark","raw_affiliation_strings":["Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","Department of Mechanical Engineering, Florida A&M-Florida State University, Tallahassee, 32310, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Florida A&M University-Florida State University, Tallahassee, FL, USA","institution_ids":["https://openalex.org/I1323276237"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Florida A&M-Florida State University, Tallahassee, 32310, USA","institution_ids":["https://openalex.org/I103163165"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061019213","display_name":"Mark Yim","orcid":"https://orcid.org/0000-0002-0837-052X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark Yim","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, 19104 USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel E. Koditschek","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","Department of Electrical and Systems Engineering. University of Pennsylvania, Philadelphia, 19104, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"Department of Electrical and Systems Engineering. University of Pennsylvania, Philadelphia, 19104, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":56,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1243","last_page":"1249"},"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.9830999970436096,"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/hexapod","display_name":"Hexapod","score":0.9416195154190063},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.7614924311637878},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5955931544303894},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5657017827033997},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5467624664306641},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5428904891014099},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5062841176986694},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.4701896905899048},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.43230724334716797},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.41869229078292847},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3600826561450958},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3337818384170532},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28896063566207886},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13508158922195435}],"concepts":[{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.9416195154190063},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.7614924311637878},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5955931544303894},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5657017827033997},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5467624664306641},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5428904891014099},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5062841176986694},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.4701896905899048},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.43230724334716797},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.41869229078292847},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3600826561450958},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3337818384170532},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28896063566207886},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13508158922195435},{"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/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"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/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2011.5979941","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979941","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.644.4023","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.644.4023","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.696.6200","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.696.6200","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://repository.upenn.edu/cgi/viewcontent.cgi?article%3D1699%26context%3Dese_papers","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W19771005","https://openalex.org/W152725453","https://openalex.org/W307753693","https://openalex.org/W1492213659","https://openalex.org/W1496651197","https://openalex.org/W1512643643","https://openalex.org/W1597655206","https://openalex.org/W1822001265","https://openalex.org/W1944242754","https://openalex.org/W1993314711","https://openalex.org/W2010026582","https://openalex.org/W2015201597","https://openalex.org/W2015817385","https://openalex.org/W2045196727","https://openalex.org/W2079497341","https://openalex.org/W2081031163","https://openalex.org/W2120085742","https://openalex.org/W2129287493","https://openalex.org/W2136333201","https://openalex.org/W2140202673","https://openalex.org/W2142784964","https://openalex.org/W2162167832","https://openalex.org/W2165529265","https://openalex.org/W2167374596","https://openalex.org/W2239779524","https://openalex.org/W4233561989","https://openalex.org/W4251997445","https://openalex.org/W4285719527","https://openalex.org/W6606332072","https://openalex.org/W6629666079","https://openalex.org/W6683797045"],"related_works":["https://openalex.org/W2146302595","https://openalex.org/W2789574804","https://openalex.org/W613729187","https://openalex.org/W2063353256","https://openalex.org/W2114803124","https://openalex.org/W123722128","https://openalex.org/W132946187","https://openalex.org/W4312379259","https://openalex.org/W2166802441","https://openalex.org/W2514466123"],"abstract_inverted_index":{"Biomechanical":[0],"studies":[1],"suggest":[2],"that":[3,108],"animals'":[4],"abilities":[5],"to":[6,14],"tune":[7],"their":[8,23],"effective":[9],"leg":[10,32,47,64,70,88,109,148],"compliance":[11,33,48,65],"in":[12,22,31,49],"response":[13],"changing":[15],"terrain":[16],"conditions":[17],"plays":[18],"an":[19,57],"important":[20],"role":[21,62],"agile,":[24],"robust":[25],"locomotion.":[26],"However,":[27],"despite":[28],"growing":[29],"interest":[30],"within":[34],"the":[35,61,120,130,139],"robotics":[36],"literature,":[37],"little":[38],"experimental":[39],"work":[40],"has":[41],"been":[42],"reported":[43],"on":[44,73,90,119],"tunable":[45,69],"passive":[46],"running":[50,82],"machines.":[51],"In":[52],"this":[53],"paper":[54],"we":[55,136],"present":[56],"empirical":[58],"study":[59],"into":[60],"of":[63,87,134,146],"using":[66,84],"a":[67,85,116],"composite":[68],"design":[71],"implemented":[72],"our":[74],"dynamic":[75,142],"hexapod,":[76],"EduBot,":[77],"with":[78,96],"gaits":[79],"optimized":[80,123],"for":[81],"speed":[83,124],"range":[86],"stiffnesses,":[89,94],"two":[91,97],"different":[92,98],"surface":[93,111],"and":[95,103,113,125,132],"payload":[99,114],"configurations":[100],"(0":[101],"kg":[102],"0.91":[104],"kg).":[105],"We":[106],"found":[107],"stiffness,":[110],"compliance,":[112],"had":[115],"significant":[117],"impact":[118],"robot's":[121],"final":[122],"efficiency.":[126],"These":[127],"results":[128],"document":[129],"value":[131],"efficacy":[133],"what":[135],"believe":[137],"is":[138],"first":[140],"autonomous":[141],"legged":[143],"robot":[144],"capable":[145],"runtime":[147],"stiffness":[149],"adjustment.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":6},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
