{"id":"https://openalex.org/W2073893850","doi":"https://doi.org/10.1109/icra.2014.6907524","title":"Control of hopping through active virtual tuning of leg damping for serially actuated legged robots","display_name":"Control of hopping through active virtual tuning of leg damping for serially actuated legged robots","publication_year":2014,"publication_date":"2014-05-01","ids":{"openalex":"https://openalex.org/W2073893850","doi":"https://doi.org/10.1109/icra.2014.6907524","mag":"2073893850"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2014.6907524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","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/A5037956636","display_name":"Gorkem Secer","orcid":"https://orcid.org/0000-0001-6612-7782"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Gorkem Secer","raw_affiliation_strings":["Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]},{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071461538","display_name":"Uluc\u0323 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Uluc Saranli","raw_affiliation_strings":["Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]},{"raw_affiliation_string":"Department of Computer Engineering, Middle East Technical University, 06800, Ankara, Turkey","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I201799495"],"apc_list":null,"apc_paid":null,"fwci":3.0025,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.91443418,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4556","last_page":"4561"},"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":0.9894000291824341,"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":0.9761000275611877,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7755616903305054},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7696161866188049},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6516671180725098},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5942422151565552},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5931589603424072},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5827301144599915},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5690200328826904},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.5465958714485168},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.46162253618240356},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.41058963537216187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3618004322052002},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3214612603187561},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.30276158452033997},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24372366070747375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1459505259990692},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14232021570205688},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1095515787601471}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7755616903305054},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7696161866188049},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6516671180725098},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5942422151565552},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5931589603424072},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5827301144599915},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5690200328826904},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.5465958714485168},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.46162253618240356},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.41058963537216187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3618004322052002},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3214612603187561},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.30276158452033997},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24372366070747375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1459505259990692},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14232021570205688},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1095515787601471},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2014.6907524","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2014.6907524","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:open.metu.edu.tr:11511/37772","is_oa":false,"landing_page_url":"https://hdl.handle.net/11511/37772","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322626","display_name":"T\u00fcrkiye Bilimsel ve Teknolojik Ara\u015ft\u0131rma Kurumu","ror":"https://ror.org/04w9kkr77"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W34308023","https://openalex.org/W1596567109","https://openalex.org/W1965348710","https://openalex.org/W1970912542","https://openalex.org/W1972051539","https://openalex.org/W1980487315","https://openalex.org/W1983815930","https://openalex.org/W1993314711","https://openalex.org/W2008342119","https://openalex.org/W2010026582","https://openalex.org/W2010650124","https://openalex.org/W2055500823","https://openalex.org/W2065834895","https://openalex.org/W2075555591","https://openalex.org/W2092300894","https://openalex.org/W2105722377","https://openalex.org/W2108977369","https://openalex.org/W2110946535","https://openalex.org/W2115693880","https://openalex.org/W2121787489","https://openalex.org/W2125224533","https://openalex.org/W2129224530","https://openalex.org/W2142473411","https://openalex.org/W2142756781","https://openalex.org/W2159873858","https://openalex.org/W2161427949","https://openalex.org/W2170103176","https://openalex.org/W2187330215","https://openalex.org/W2337224132","https://openalex.org/W2610901891","https://openalex.org/W4237271316","https://openalex.org/W6635606149","https://openalex.org/W6643344061","https://openalex.org/W7039647052"],"related_works":["https://openalex.org/W1596567109","https://openalex.org/W2206060124","https://openalex.org/W2739593313","https://openalex.org/W2371131212","https://openalex.org/W2243669827","https://openalex.org/W13333063","https://openalex.org/W2841879989","https://openalex.org/W3178074323","https://openalex.org/W2998534312","https://openalex.org/W2968327048"],"abstract_inverted_index":{"Spring-mass":[0],"models":[1,19],"have":[2],"been":[3,38],"very":[4],"successful":[5],"both":[6],"in":[7,31,93,179],"describing":[8],"and":[9,44,53,144,149,189],"generating":[10],"running":[11,67,193],"behaviors.":[12],"Control":[13],"of":[14,27,58,66,78,100,146,167,176,192],"system":[15],"energy":[16,123],"within":[17,125],"these":[18],"takes":[20],"different":[21],"forms,":[22],"among":[23],"which":[24],"the":[25,34,56,59,83,98,112,134,142,163,172],"use":[26,175],"a":[28,75,90,102,107,126],"linear":[29],"actuator":[30,135,177],"series":[32],"with":[33,106,160],"leg":[35,116,169,198],"spring":[36],"has":[37],"preferred":[39],"by":[40],"many":[41],"recent":[42],"monopedal":[43],"bipedal":[45],"platform":[46],"designs":[47],"due":[48],"to":[49,81,137,156,162],"its":[50],"relative":[51],"robustness":[52],"simplicity.":[54],"However,":[55],"validity":[57,143],"well-known":[60],"Spring-Loaded":[61],"Inverted":[62],"Pendulum":[63],"(SLIP)":[64],"model":[65],"for":[68,194],"such":[69],"platforms":[70],"can":[71],"only":[72],"preserved":[73],"under":[74],"specific":[76],"family":[77],"control":[79,191],"strategies":[80],"drive":[82],"actuator.":[84],"In":[85],"this":[86,94,121,180],"paper,":[87],"we":[88],"propose":[89],"novel":[91],"controller":[92],"family,":[95],"based":[96],"on":[97,133],"idea":[99],"embedding":[101],"lossy":[103],"SLIP":[104],"template":[105],"tunable":[108],"damping":[109],"coefficient":[110],"into":[111],"linearly":[113,195],"actuated":[114,196],"compliant":[115,197],"system.":[117],"We":[118,152],"show":[119],"that":[120],"maximizes":[122],"input":[124],"single":[127],"stride,":[128],"allows":[129],"decreased":[130],"power":[131,178],"requirements":[132],"compared":[136],"alternative":[138],"methods,":[139],"while":[140,182],"preserving":[141,183],"accuracy":[145],"analytic":[147,184],"solutions":[148],"model-based":[150],"controllers.":[151],"present":[153],"systematic":[154],"simulations":[155],"establish":[157],"performance":[158],"gains":[159],"respect":[161],"commonly":[164],"investigated":[165],"method":[166],"modulating":[168],"stiffness.":[170],"Enabling":[171],"most":[173],"efficient":[174,188],"manner":[181],"tractability":[185],"will":[186],"allow":[187],"accurate":[190],"designs.":[199]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
