{"id":"https://openalex.org/W2142512174","doi":"https://doi.org/10.1109/icra.2011.5979979","title":"Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS)","display_name":"Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS)","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2142512174","doi":"https://doi.org/10.1109/icra.2011.5979979","mag":"2142512174"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979979","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":"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/A5050878269","display_name":"Amir Jafari","orcid":"https://orcid.org/0000-0003-0593-3507"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Amir Jafari","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology (IIT), 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology (IIT), 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology (IIT), 16163 Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology (IIT), 16163 Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5050878269"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.5674,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.92750043,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4632","last_page":"4637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9994000196456909,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958999752998352,"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/stiffness","display_name":"Stiffness","score":0.7875567674636841},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7529232501983643},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7015810608863831},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.5254427790641785},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5037068724632263},{"id":"https://openalex.org/keywords/natural-frequency","display_name":"Natural frequency","score":0.5020999908447266},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4627001881599426},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4406939744949341},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.42767494916915894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2550659775733948},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21316328644752502},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.1740168035030365},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16523799300193787},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.14859339594841003},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12533670663833618},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06986358761787415},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.0646313726902008}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7875567674636841},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7529232501983643},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7015810608863831},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.5254427790641785},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5037068724632263},{"id":"https://openalex.org/C78736273","wikidata":"https://www.wikidata.org/wiki/Q946764","display_name":"Natural frequency","level":3,"score":0.5020999908447266},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4627001881599426},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4406939744949341},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.42767494916915894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2550659775733948},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21316328644752502},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.1740168035030365},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16523799300193787},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.14859339594841003},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12533670663833618},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06986358761787415},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0646313726902008},{"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/icra.2011.5979979","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979979","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"}],"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/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338370","display_name":"FP7 Information and Communication Technologies","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1602436038","https://openalex.org/W1829015105","https://openalex.org/W1879974976","https://openalex.org/W1970628739","https://openalex.org/W2005589694","https://openalex.org/W2017514441","https://openalex.org/W2029058516","https://openalex.org/W2080826208","https://openalex.org/W2151794043","https://openalex.org/W2163668399","https://openalex.org/W2542833487","https://openalex.org/W3128986019","https://openalex.org/W6635875349","https://openalex.org/W6682548385","https://openalex.org/W6790445856"],"related_works":["https://openalex.org/W2808213426","https://openalex.org/W2016759238","https://openalex.org/W2807711811","https://openalex.org/W2808279233","https://openalex.org/W1978394698","https://openalex.org/W4247955010","https://openalex.org/W2808192315","https://openalex.org/W2294789132","https://openalex.org/W2376984092","https://openalex.org/W2382414854"],"abstract_inverted_index":{"In":[0],"repetitive":[1],"trajectories,":[2],"adaptable":[3],"compliance":[4],"actuators":[5,42],"can":[6],"minimize":[7,141],"energy":[8,71,159],"consumption":[9,160],"thanks":[10],"to":[11,14,55,65,73,123,129,140,145],"their":[12,29],"ability":[13],"adjust":[15],"the":[16,22,25,33,57,61,66,75,83,88,91,98,106,109,120,125,130,134,142,147,163],"level":[17],"of":[18,24,28,40,45,70,90,97,108,115,157],"stiffness":[19,84,101,126],"which":[20,136],"allows":[21],"exploitation":[23],"natural":[26,58,164],"dynamics":[27,59,165],"link":[30],"based":[31],"on":[32],"desired":[34],"motion's":[35],"frequency.":[36],"However":[37],"for":[38,169],"most":[39,96],"these":[41],"in":[43,60,95,137,166],"case":[44],"a":[46],"variable":[47,100,173],"frequency":[48,174],"motion,":[49],"it":[50],"is":[51,118,127,150,155],"not":[52,86],"energetically":[53],"beneficial":[54],"exploit":[56],"real":[62,167],"time":[63,168],"due":[64],"considerably":[67],"high":[68],"amount":[69],"needed":[72,122],"change":[74,124],"stiffness.":[76,148],"AwAS":[77,154],"(Actuator":[78],"with":[79],"Adjustable":[80],"Stiffness)":[81],"achieves":[82],"regulation":[85],"through":[87,161],"control":[89],"spring":[92,110],"pretension":[93],"(as":[94],"existing":[99],"joints)":[102],"but":[103],"by":[104,133],"controlling":[105],"location":[107],"elements.":[111],"An":[112],"important":[113],"consequence":[114],"this":[116],"mechanism":[117],"that":[119,153],"displacement":[121],"perpendicular":[128],"forces":[131],"generated":[132],"springs":[135],"turn":[138],"helps":[139],"energy/power":[143],"required":[144],"regulate":[146],"It":[149],"experimentally":[151],"shown":[152],"capable":[156],"minimizing":[158],"exploiting":[162],"both":[170],"fixed":[171],"and":[172],"motions.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":6},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":5},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":9}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
