{"id":"https://openalex.org/W3034919139","doi":"https://doi.org/10.1109/icra40945.2020.9197019","title":"CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System","display_name":"CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System","publication_year":2020,"publication_date":"2020-05-01","ids":{"openalex":"https://openalex.org/W3034919139","doi":"https://doi.org/10.1109/icra40945.2020.9197019","mag":"3034919139"},"language":"en","primary_location":{"id":"doi:10.1109/icra40945.2020.9197019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/416673","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004786774","display_name":"Dominik Mannhart","orcid":"https://orcid.org/0000-0001-7117-6028"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Dominik Mannhart","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016809594","display_name":"Fabio Dubois","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabio Dubois","raw_affiliation_strings":["Robotic Systems Lab (RSL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049053085","display_name":"Karen Bodie","orcid":"https://orcid.org/0000-0001-8168-8561"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Karen Bodie","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041410798","display_name":"Victor Klemm","orcid":"https://orcid.org/0000-0002-6752-3397"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Victor Klemm","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037761920","display_name":"Alessandro Morra","orcid":"https://orcid.org/0000-0003-4437-8067"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alessandro Morra","raw_affiliation_strings":["Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Autonomous Systems Lab (ASL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab (RSL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL), ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5004786774"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.2575,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.50085869,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"850","last_page":"856"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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":0.9987999796867371,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.994700014591217,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/trajectory","display_name":"Trajectory","score":0.6921634674072266},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.6796557903289795},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5919229984283447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5840017199516296},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5707797408103943},{"id":"https://openalex.org/keywords/dimension","display_name":"Dimension (graph theory)","score":0.5687631964683533},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5639875531196594},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5493957996368408},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.522259533405304},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4738728702068329},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4599226415157318},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42853161692619324},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4240490794181824},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32506051659584045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17686143517494202},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13869750499725342},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11717122793197632},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10537514090538025}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6921634674072266},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.6796557903289795},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5919229984283447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5840017199516296},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5707797408103943},{"id":"https://openalex.org/C33676613","wikidata":"https://www.wikidata.org/wiki/Q13415176","display_name":"Dimension (graph theory)","level":2,"score":0.5687631964683533},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5639875531196594},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5493957996368408},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.522259533405304},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4738728702068329},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4599226415157318},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42853161692619324},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4240490794181824},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32506051659584045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17686143517494202},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13869750499725342},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11717122793197632},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10537514090538025},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra40945.2020.9197019","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra40945.2020.9197019","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/416673","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/416673","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000416673","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000416673","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/416673","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/416673","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W215766046","https://openalex.org/W1670969129","https://openalex.org/W1853143499","https://openalex.org/W1988211739","https://openalex.org/W1997576152","https://openalex.org/W2010360036","https://openalex.org/W2025338486","https://openalex.org/W2031533893","https://openalex.org/W2094496385","https://openalex.org/W2111253117","https://openalex.org/W2130095752","https://openalex.org/W2531596132","https://openalex.org/W2764255492","https://openalex.org/W2909553221","https://openalex.org/W2968031102","https://openalex.org/W6637320229","https://openalex.org/W6652883770"],"related_works":["https://openalex.org/W2022544890","https://openalex.org/W2394097730","https://openalex.org/W2475378634","https://openalex.org/W2113405914","https://openalex.org/W4312353617","https://openalex.org/W2260963831","https://openalex.org/W4232235567","https://openalex.org/W2136891269","https://openalex.org/W2084427838","https://openalex.org/W4392830660"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,12,57,74,83,89,93,104],"novel":[4],"design":[5,38],"concept":[6],"that":[7,29],"achieves":[8],"multi-legged":[9],"locomotion":[10],"using":[11],"three-dimensional":[13],"cam":[14,27],"system.":[15],"A":[16],"computational":[17],"framework":[18],"has":[19],"been":[20],"developed":[21,97],"to":[22,69,77,116],"analyze":[23],"and":[24,46,73,98],"dimension":[25],"this":[26,87],"apparatus,":[28],"can":[30,62],"perform":[31],"arbitrary":[32],"end":[33,127],"effector":[34,128],"motions":[35],"within":[36,121],"its":[37,79],"constraints.":[39],"The":[40],"mechanism":[41],"enables":[42],"continuous":[43,58],"gait":[44],"transition":[45],"inherent":[47],"force":[48],"compliance.":[49],"With":[50],"only":[51,134],"two":[52],"motors,":[53],"any":[54],"trajectory":[55,129],"of":[56,60,86,92,133],"set":[59],"gaits":[61,112],"be":[63],"followed.":[64],"One":[65],"motor":[66],"is":[67,96],"used":[68],"actuate":[70],"the":[71,125],"system":[72],"second":[75],"one":[76],"morph":[78],"movement.":[80],"To":[81],"illustrate":[82],"possible":[84],"application":[85],"system,":[88],"working":[90],"prototype":[91],"bipedal":[94],"robot":[95],"validated":[99],"in":[100],"hardware.":[101],"It":[102],"showcases":[103],"smooth":[105],"velocity":[106],"change":[107],"by":[108],"transitioning":[109],"through":[110],"different":[111],"from":[113],"standing":[114],"still":[115],"walking":[117],"fast":[118],"at":[119],"124mm/s":[120],"2.0s,":[122],"while":[123],"following":[124],"given":[126],"with":[130],"an":[131],"error":[132],"2.47mm.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}