{"id":"https://openalex.org/W2122827816","doi":"https://doi.org/10.1109/icra.2013.6630645","title":"COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control","display_name":"COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2122827816","doi":"https://doi.org/10.1109/icra.2013.6630645","mag":"2122827816"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6630645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://zenodo.org/record/3431952","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","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":true,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044151624","display_name":"Stephen Morfey","orcid":null},"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":"Stephen Morfey","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023845368","display_name":"Gustavo Medrano Cerda","orcid":null},"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":"Gustavo Medrano Cerda","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351550","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0001-5849-6334"},"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":"Li Zhibin","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, 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, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5031036223"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":17.2349,"has_fulltext":false,"cited_by_count":225,"citation_normalized_percentile":{"value":0.99568787,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"673","last_page":"678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980999827384949,"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":0.996399998664856,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7741029262542725},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7222887277603149},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7044767141342163},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.6800026893615723},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5570181012153625},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5463547706604004},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5337064862251282},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38923317193984985},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.351205050945282},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31920385360717773},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17487367987632751},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10579955577850342},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1002592146396637},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.0743827223777771}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7741029262542725},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7222887277603149},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7044767141342163},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.6800026893615723},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5570181012153625},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5463547706604004},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5337064862251282},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38923317193984985},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.351205050945282},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31920385360717773},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17487367987632751},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10579955577850342},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1002592146396637},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0743827223777771},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2013.6630645","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6630645","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:zenodo.org:3431952","is_oa":true,"landing_page_url":"https://zenodo.org/record/3431952","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:3431952","is_oa":true,"landing_page_url":"https://zenodo.org/record/3431952","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferencePaper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7599999904632568,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1507570408","https://openalex.org/W1870564534","https://openalex.org/W1974751498","https://openalex.org/W1980065440","https://openalex.org/W2000535285","https://openalex.org/W2042533733","https://openalex.org/W2097311579","https://openalex.org/W2111253117","https://openalex.org/W2111966261","https://openalex.org/W2121787489","https://openalex.org/W2128052563","https://openalex.org/W2131326336","https://openalex.org/W2139889932","https://openalex.org/W2142992961","https://openalex.org/W2145477224","https://openalex.org/W2152421003","https://openalex.org/W2152957885","https://openalex.org/W2157714820","https://openalex.org/W2158570091","https://openalex.org/W2162109810","https://openalex.org/W2163665518","https://openalex.org/W2542370644","https://openalex.org/W6639366799","https://openalex.org/W6681532280"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W4386883573","https://openalex.org/W2116005591","https://openalex.org/W2736573057"],"abstract_inverted_index":{"The":[0,55,131,149],"incorporation":[1],"of":[2,59,63,71,79,96,109,124,128,142,146],"passive":[3,44,83,144],"compliance":[4,45],"in":[5,93],"robotic":[6],"systems":[7],"could":[8],"improve":[9],"their":[10],"performance":[11,95],"during":[12],"interactions":[13],"and":[14,19,21,29,57,76,117],"impacts,":[15],"for":[16,22,25],"energy":[17,118],"storage":[18,119],"efficiency,":[20],"general":[23],"safety":[24],"both":[26],"the":[27,34,49,60,64,69,72,77,80,94,106,125,140,143],"robots":[28,112],"humans.":[30],"This":[31,85],"paper":[32,132],"presents":[33],"recently":[35],"developed":[36],"COMpliant":[37],"huMANoid":[38],"COMAN.":[39],"COMAN":[40,147],"is":[41,66,89,154],"actuated":[42],"by":[43,157],"actuators":[46],"based":[47,113],"on":[48,114],"series":[50],"elastic":[51],"actuation":[52],"principle":[53],"(SEA).":[54],"design":[56],"implementation":[58],"overall":[61],"body":[62,74],"robot":[65,152],"discussed":[67],"including":[68],"realization":[70],"different":[73],"segments":[75],"tuning":[78,88],"joint":[81,86,107],"distributed":[82],"elasticity.":[84],"stiffness":[87],"a":[90],"critical":[91],"parameter":[92],"compliant":[97],"systems.":[98],"A":[99],"novel":[100],"systematic":[101],"method":[102,136],"to":[103,139,161],"optimally":[104],"tune":[105],"elasticity":[108,145],"multi-dof":[110],"SEA":[111],"resonance":[115],"analysis":[116],"maximization":[120],"criteria":[121],"forms":[122],"one":[123],"key":[126],"contributions":[127],"this":[129,135],"work.":[130],"will":[133],"show":[134],"being":[137],"applied":[138],"selection":[141],"legs.":[148],"first":[150],"completed":[151],"prototype":[153],"presented":[155],"accompanied":[156],"experimental":[158],"walking":[159],"trials":[160],"demonstrate":[162],"its":[163],"operation.":[164]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":39},{"year":2017,"cited_by_count":25},{"year":2016,"cited_by_count":29},{"year":2015,"cited_by_count":27},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":10}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}