{"id":"https://openalex.org/W2151515718","doi":"https://doi.org/10.1109/icra.2013.6631386","title":"Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot","display_name":"Efficiency and effectiveness analysis of a new direct drive miniature quadruped robot","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2151515718","doi":"https://doi.org/10.1109/icra.2013.6631386","mag":"2151515718"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631386","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040998460","display_name":"Christopher Y. Brown","orcid":null},"institutions":[{"id":"https://openalex.org/I2802946424","display_name":"Johns Hopkins University Applied Physics Laboratory","ror":"https://ror.org/029pp9z10","country_code":"US","type":"facility","lineage":["https://openalex.org/I145311948","https://openalex.org/I2802946424"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Christopher Y. Brown","raw_affiliation_strings":["Johns Hopkins University Applied Physics Laboratory, Laurel, MD, US"],"affiliations":[{"raw_affiliation_string":"Johns Hopkins University Applied Physics Laboratory, Laurel, MD, US","institution_ids":["https://openalex.org/I2802946424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029461916","display_name":"Dana Vogtmann","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dana E. Vogtmann","raw_affiliation_strings":["University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051309977","display_name":"Sarah Bergbreiter","orcid":"https://orcid.org/0000-0003-2735-0206"},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sarah Bergbreiter","raw_affiliation_strings":["Department of Mechanical Engineering, the Institute for Systems Research and the Maryland Robotics Center, University of Maryland, College Park, MD, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, the Institute for Systems Research and the Maryland Robotics Center, University of Maryland, College Park, MD, USA","institution_ids":["https://openalex.org/I66946132"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5040998460"],"corresponding_institution_ids":["https://openalex.org/I2802946424"],"apc_list":null,"apc_paid":null,"fwci":1.3989,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.81495221,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"233","issue":null,"first_page":"5631","last_page":"5637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9830999970436096,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9521999955177307,"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/robot","display_name":"Robot","score":0.7824575304985046},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5895363688468933},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5711845755577087},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.5029124617576599},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.446113646030426},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.400209903717041},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30104029178619385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22642076015472412},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.1819455325603485},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0899958610534668}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7824575304985046},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5895363688468933},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5711845755577087},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.5029124617576599},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.446113646030426},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.400209903717041},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30104029178619385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22642076015472412},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.1819455325603485},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0899958610534668},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631386","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310145","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1570717418","https://openalex.org/W1822001265","https://openalex.org/W1874450194","https://openalex.org/W2024084391","https://openalex.org/W2029058516","https://openalex.org/W2096169664","https://openalex.org/W2099660316","https://openalex.org/W2134854819","https://openalex.org/W2136836982","https://openalex.org/W2169548137","https://openalex.org/W2233841248","https://openalex.org/W2465842269","https://openalex.org/W4235308225"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W4249307902","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,44,64,72],"new,":[4],"50g":[5],"miniature":[6],"robot":[7,42],"(Figure":[8],"1":[9],"and":[10,19,60,83,89,98],"attached":[11],"video)":[12],"that":[13],"uses":[14],"four":[15],"direct-drive":[16,65],"hybrid":[17],"wheel/legs":[18],"has":[20],"been":[21],"clocked":[22],"at":[23,57],"speeds":[24],"exceeding":[25],"30":[26],"body":[27],"lengths/s.":[28],"The":[29],"lowest":[30],"recorded":[31],"cost":[32],"of":[33,55,63,80,86,100],"transport":[34],"(defined":[35],"as":[36],"total":[37],"energy":[38],"to":[39,76],"move":[40],"the":[41,61,78,87,91],"mass":[43],"given":[45],"distance)":[46],"is":[47],"0.90.":[48],"We":[49,70],"discuss":[50],"hardware":[51],"considerations":[52],"for":[53],"design":[54],"robots":[56],"this":[58],"scale,":[59],"benefits":[62],"system":[66],"over":[67],"coupled":[68],"transmissions.":[69],"develop":[71],"simple":[73],"simulation":[74],"model":[75],"examine":[77],"effects":[79],"drive":[81],"speed":[82],"mechanical":[84],"properties":[85],"legs,":[88],"compare":[90],"results":[92],"with":[93,102],"experimental":[94],"data":[95],"on":[96],"efficiency":[97],"effectiveness":[99],"locomotion":[101],"various":[103],"leg":[104],"designs.":[105]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
