{"id":"https://openalex.org/W2890421436","doi":"https://doi.org/10.1109/icra.2018.8460493","title":"Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots","display_name":"Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890421436","doi":"https://doi.org/10.1109/icra.2018.8460493","mag":"2890421436"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 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/A5039681112","display_name":"Wesley Roozing","orcid":"https://orcid.org/0000-0002-7991-3704"},"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":"Wesley Roozing","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065504323","display_name":"Zeyu Ren","orcid":"https://orcid.org/0000-0002-0909-4758"},"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":"Zeyu Ren","raw_affiliation_strings":["Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","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, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, (Fondazione) Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"8"},"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":0.9973000288009644,"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":0.9890000224113464,"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/actuator","display_name":"Actuator","score":0.747276782989502},{"id":"https://openalex.org/keywords/series-and-parallel-circuits","display_name":"Series and parallel circuits","score":0.6145959496498108},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.6135260462760925},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5720605254173279},{"id":"https://openalex.org/keywords/mechanical-energy","display_name":"Mechanical energy","score":0.5624412298202515},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5445078611373901},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5008726119995117},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4922401010990143},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4759097695350647},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.473135381937027},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.45214423537254333},{"id":"https://openalex.org/keywords/energy-consumption","display_name":"Energy consumption","score":0.4468369483947754},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4182165265083313},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3816955089569092},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3545624613761902},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.34789401292800903},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3427547812461853},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.27352017164230347},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.20121631026268005},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.15230971574783325},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14986422657966614},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10559603571891785}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.747276782989502},{"id":"https://openalex.org/C95023266","wikidata":"https://www.wikidata.org/wiki/Q55738334","display_name":"Series and parallel circuits","level":3,"score":0.6145959496498108},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.6135260462760925},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5720605254173279},{"id":"https://openalex.org/C107240024","wikidata":"https://www.wikidata.org/wiki/Q184550","display_name":"Mechanical energy","level":3,"score":0.5624412298202515},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5445078611373901},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5008726119995117},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4922401010990143},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4759097695350647},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.473135381937027},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.45214423537254333},{"id":"https://openalex.org/C2780165032","wikidata":"https://www.wikidata.org/wiki/Q16869822","display_name":"Energy consumption","level":2,"score":0.4468369483947754},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4182165265083313},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3816955089569092},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3545624613761902},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.34789401292800903},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3427547812461853},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.27352017164230347},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.20121631026268005},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.15230971574783325},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14986422657966614},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10559603571891785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"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/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460493","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460493","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.9100000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":37,"referenced_works":["https://openalex.org/W239392143","https://openalex.org/W1535570778","https://openalex.org/W1967246448","https://openalex.org/W1970107898","https://openalex.org/W1972925450","https://openalex.org/W1974902982","https://openalex.org/W1982871593","https://openalex.org/W2003612408","https://openalex.org/W2029903726","https://openalex.org/W2048383675","https://openalex.org/W2080592145","https://openalex.org/W2111253117","https://openalex.org/W2116767351","https://openalex.org/W2120386216","https://openalex.org/W2122781667","https://openalex.org/W2139252876","https://openalex.org/W2157466291","https://openalex.org/W2158641070","https://openalex.org/W2166779039","https://openalex.org/W2215053599","https://openalex.org/W2220306460","https://openalex.org/W2291824066","https://openalex.org/W2295584263","https://openalex.org/W2311803749","https://openalex.org/W2415965313","https://openalex.org/W2531653844","https://openalex.org/W2552147079","https://openalex.org/W2571049687","https://openalex.org/W2730083658","https://openalex.org/W2735152057","https://openalex.org/W2772044689","https://openalex.org/W4250058668","https://openalex.org/W6651575188","https://openalex.org/W6688672274","https://openalex.org/W6688954654","https://openalex.org/W6729682214","https://openalex.org/W6747115968"],"related_works":["https://openalex.org/W2038930466","https://openalex.org/W3185175573","https://openalex.org/W4252399857","https://openalex.org/W3136532266","https://openalex.org/W3146748619","https://openalex.org/W2899313510","https://openalex.org/W2336141197","https://openalex.org/W4386167541","https://openalex.org/W4317669082","https://openalex.org/W2305698488"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"the":[3,44,71,79,110,124],"development":[4],"of":[5,70,78,115],"a":[6,49,91],"3-DoF":[7],"leg":[8,33,73,125],"with":[9,20,37,97,99],"series":[10],"and":[11,40,47,61,101,117],"parallel":[12,21,54,103],"compliant":[13],"actuation.":[14],"Series-elastic":[15],"main":[16],"actuators":[17],"are":[18,56,65,87],"combined":[19],"high":[22],"efficiency":[23],"energy":[24,30],"storage":[25],"branches,":[26,104],"to":[27,43],"substantially":[28],"improve":[29],"efficiency.":[31],"The":[32,53,67,106],"design":[34,63,69],"is":[35,74,95,126],"semi-anthropomorphic,":[36],"similar":[38],"mass":[39,41],"distribution":[42],"human":[45],"limb,":[46],"includes":[48],"biarticulated":[50,102],"actuation":[51,80],"configuration.":[52],"branches":[55],"driven":[57],"by":[58],"secondary":[59],"motors":[60],"their":[62],"parameters":[64],"optimised.":[66],"mechanical":[68],"prototype":[72],"presented,":[75,88],"introducing":[76],"details":[77],"configuration":[81,94],"principles":[82],"employed.":[83],"Preliminary":[84],"experimental":[85],"data":[86],"in":[89,119],"which":[90],"baseline":[92],"series-elastic-only":[93],"compared":[96],"configurations":[98],"mono-":[100],"respectively.":[105],"results":[107],"effectively":[108],"demonstrate":[109],"concept's":[111],"potential,":[112],"showing":[113],"improvements":[114],"53%":[116],"60%":[118],"electrical":[120],"power":[121],"consumption":[122],"while":[123],"executing":[127],"loaded":[128],"cyclic":[129],"motion":[130],"profiles.":[131]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}