{"id":"https://openalex.org/W1582930966","doi":"https://doi.org/10.1109/icra.2015.7139923","title":"Design and analysis of an optimal hopper for use in resonance-based locomotion","display_name":"Design and analysis of an optimal hopper for use in resonance-based locomotion","publication_year":2015,"publication_date":"2015-05-01","ids":{"openalex":"https://openalex.org/W1582930966","doi":"https://doi.org/10.1109/icra.2015.7139923","mag":"1582930966"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2015.7139923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","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/A5039806030","display_name":"Ivor Wanders","orcid":null},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":true,"raw_author_name":"Ivor Wanders","raw_affiliation_strings":["Robotics and Mechatronics group CTIT institute University of Twente","Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group CTIT institute University of Twente","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057542856","display_name":"Gerrit A. Folkertsma","orcid":"https://orcid.org/0000-0002-8346-0752"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Gerrit A. Folkertsma","raw_affiliation_strings":["Robotics and Mechatronics group CTIT institute University of Twente","Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group CTIT institute University of Twente","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047812798","display_name":"Stefano Stramigioli","orcid":"https://orcid.org/0000-0001-8212-7387"},"institutions":[{"id":"https://openalex.org/I94624287","display_name":"University of Twente","ror":"https://ror.org/006hf6230","country_code":"NL","type":"education","lineage":["https://openalex.org/I94624287"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Stefano Stramigioli","raw_affiliation_strings":["Robotics and Mechatronics group CTIT institute University of Twente","Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechatronics group CTIT institute University of Twente","institution_ids":["https://openalex.org/I94624287"]},{"raw_affiliation_string":"Robotics and Mechatronics group, CTIT institute, University of Twente, The Netherlands","institution_ids":["https://openalex.org/I94624287"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5039806030"],"corresponding_institution_ids":["https://openalex.org/I94624287"],"apc_list":null,"apc_paid":null,"fwci":0.8851,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.7298577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"5197","last_page":"5202"},"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":0.9915000200271606,"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/T11230","display_name":"Innovative Energy Harvesting Technologies","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7397311925888062},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6510087251663208},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.639169454574585},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5711936950683594},{"id":"https://openalex.org/keywords/energy-harvesting","display_name":"Energy harvesting","score":0.5635280609130859},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.546946108341217},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5411564111709595},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.5338749885559082},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4648391902446747},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4302375912666321},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.41348502039909363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38716816902160645},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26972025632858276},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20423880219459534},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17282050848007202},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14167675375938416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11782747507095337},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09422379732131958}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7397311925888062},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6510087251663208},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.639169454574585},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5711936950683594},{"id":"https://openalex.org/C101518730","wikidata":"https://www.wikidata.org/wiki/Q930236","display_name":"Energy harvesting","level":3,"score":0.5635280609130859},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.546946108341217},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5411564111709595},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.5338749885559082},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4648391902446747},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4302375912666321},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.41348502039909363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38716816902160645},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26972025632858276},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20423880219459534},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17282050848007202},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14167675375938416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11782747507095337},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09422379732131958},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2015.7139923","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2015.7139923","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:ris.utwente.nl:openaire_cris_publications/b8078750-016f-4dc5-bc52-b486bcf7aca3","is_oa":false,"landing_page_url":"https://research.utwente.nl/en/publications/b8078750-016f-4dc5-bc52-b486bcf7aca3","pdf_url":null,"source":{"id":"https://openalex.org/S4406922991","display_name":"University of Twente Research Information","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Wanders, I, Folkertsma, G A & Stramigioli, S 2015, Design and analysis of an optimal hopper for use in resonance-based locomotion. in IEEE International Conference on Robotics and Automation, ICRA 2015. IEEE, USA, pp. -, 2015 IEEE International Conference on Robotics and Automation, ICRA 2015, Seattle, Washington, United States, 26/05/15. https://doi.org/10.1109/ICRA.2015.7139923","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8899999856948853}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1484218370","https://openalex.org/W1979445726","https://openalex.org/W1994375864","https://openalex.org/W1994791164","https://openalex.org/W2023869318","https://openalex.org/W2029393028","https://openalex.org/W2031869162","https://openalex.org/W2073195712","https://openalex.org/W2075135730","https://openalex.org/W2081031163","https://openalex.org/W2084399420","https://openalex.org/W2098329609","https://openalex.org/W2102762991","https://openalex.org/W2105595651","https://openalex.org/W2111904757","https://openalex.org/W2113647903","https://openalex.org/W2119911729","https://openalex.org/W2129224530","https://openalex.org/W2129827894","https://openalex.org/W2133872400","https://openalex.org/W2138373683"],"related_works":["https://openalex.org/W4388251424","https://openalex.org/W1580637061","https://openalex.org/W1511563303","https://openalex.org/W3080852575","https://openalex.org/W1533660521","https://openalex.org/W2084951977","https://openalex.org/W2153192722","https://openalex.org/W4323555934","https://openalex.org/W4368755191","https://openalex.org/W582091997"],"abstract_inverted_index":{"Quadrupedal":[0],"running":[1,32],"is":[2,24,42,62,81,111],"an":[3,14,44,96],"efficient":[4],"form":[5],"of":[6,59],"locomotion":[7,30],"found":[8,82],"in":[9,37,66,85],"nature,":[10],"which":[11],"serves":[12],"as":[13,76],"inspiration":[15],"for":[16],"robotics.":[17],"We":[18],"believe":[19],"that":[20],"a":[21,49,104],"resonance-based":[22],"approach":[23],"the":[25,60,71,79,88],"path":[26],"towards":[27,39],"energy-efficient":[28,45],"legged":[29],"and":[31,54,68,91],"robots.":[33],"The":[34,56,73],"first":[35],"step":[36],"working":[38],"this":[40],"goal":[41],"creating":[43,103],"one-legged":[46,50],"hopper.":[47],"Such":[48],"hopper":[51],"was":[52],"designed":[53],"constructed.":[55],"impact":[57,74],"efficiency":[58,75],"mechanism":[61],"calculated":[63,77],"analytically,":[64],"determined":[65],"simulation":[67,92],"measured":[69],"with":[70,87,107],"prototype.":[72],"from":[78],"experiments":[80],"to":[83,99],"be":[84],"agreement":[86],"analytical":[89],"expectation":[90],"results.":[93],"Finally,":[94],"using":[95],"electric":[97],"motor":[98],"inject":[100],"energy":[101],"by":[102],"virtual":[105],"spring":[106],"reverse":[108],"hysteresis,":[109],"hopping":[110],"achieved.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}