{"id":"https://openalex.org/W4285102304","doi":"https://doi.org/10.1109/icra46639.2022.9811790","title":"Design and Control of a Miniature Bipedal Robot with Proprioceptive Actuation for Dynamic Behaviors","display_name":"Design and Control of a Miniature Bipedal Robot with Proprioceptive Actuation for Dynamic Behaviors","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W4285102304","doi":"https://doi.org/10.1109/icra46639.2022.9811790"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9811790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811790","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 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/A5022741291","display_name":"Yeting Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Yeting Liu","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035315520","display_name":"Junjie Shen","orcid":"https://orcid.org/0000-0002-0449-1463"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Junjie Shen","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106823015","display_name":"Jingwen Zhang","orcid":"https://orcid.org/0009-0007-9317-2782"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingwen Zhang","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408511","display_name":"Xiaoguang Zhang","orcid":"https://orcid.org/0000-0003-1871-0433"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xiaoguang Zhang","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043379105","display_name":"Taoyuanmin Zhu","orcid":"https://orcid.org/0000-0002-5355-9233"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taoyuanmin Zhu","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095"],"affiliations":[{"raw_affiliation_string":"University of California,Robotics and Mechanisms Laboratory,the Department of Mechanical and Aerospace Engineering,Los Angeles,CA,USA,90095","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5022741291"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.84,"has_fulltext":false,"cited_by_count":42,"citation_normalized_percentile":{"value":0.99430285,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"8547","last_page":"8553"},"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":0.9987000226974487,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6068307161331177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5873316526412964},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.5862540602684021},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5460746884346008},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5302321910858154},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4978044033050537},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.48911696672439575},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4558833837509155},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4369059205055237},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43253618478775024},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3654051423072815},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34222346544265747},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3328089118003845},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2447594404220581},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17853420972824097},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08964326977729797}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6068307161331177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5873316526412964},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.5862540602684021},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5460746884346008},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5302321910858154},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4978044033050537},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.48911696672439575},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4558833837509155},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4369059205055237},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43253618478775024},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3654051423072815},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34222346544265747},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3328089118003845},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2447594404220581},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17853420972824097},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08964326977729797},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9811790","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9811790","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1527317423","https://openalex.org/W1590311443","https://openalex.org/W1661970104","https://openalex.org/W1945123189","https://openalex.org/W1963573260","https://openalex.org/W1994275787","https://openalex.org/W2007677977","https://openalex.org/W2023673147","https://openalex.org/W2056223738","https://openalex.org/W2061983716","https://openalex.org/W2101340954","https://openalex.org/W2111270566","https://openalex.org/W2133859362","https://openalex.org/W2138671676","https://openalex.org/W2198582666","https://openalex.org/W2245493112","https://openalex.org/W2415458238","https://openalex.org/W2563439850","https://openalex.org/W2573227850","https://openalex.org/W2747172592","https://openalex.org/W2769646558","https://openalex.org/W2771691050","https://openalex.org/W2883488766","https://openalex.org/W2902244063","https://openalex.org/W2909331752","https://openalex.org/W2911571360","https://openalex.org/W2968213087","https://openalex.org/W2980792850","https://openalex.org/W2997235815","https://openalex.org/W2997785869","https://openalex.org/W3003335319","https://openalex.org/W3012013006","https://openalex.org/W3044242977","https://openalex.org/W3081791272","https://openalex.org/W3093175803","https://openalex.org/W3101798601","https://openalex.org/W3104730803","https://openalex.org/W3113616534","https://openalex.org/W3130162259","https://openalex.org/W3132444912","https://openalex.org/W3143373178","https://openalex.org/W3206339717","https://openalex.org/W3207570091","https://openalex.org/W4241459016","https://openalex.org/W4250058668","https://openalex.org/W4285102613","https://openalex.org/W6716260432"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2356070666","https://openalex.org/W2540452882","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W2152492056","https://openalex.org/W124578312"],"abstract_inverted_index":{"As":[0],"the":[1,12,67,82,89,144,151,171],"study":[2],"of":[3,21,44,49,100,124,165],"humanoid":[4],"robots":[5],"becomes":[6],"a":[7,15,30,54,58,70,76,97,103,127],"world-wide":[8],"interdisciplinary":[9],"research":[10],"field,":[11],"demand":[13],"for":[14,116,130],"cost-effective":[16],"bipedal":[17,32],"robot":[18,33],"system":[19,74,173],"capable":[20],"dynamic":[22,125],"behaviors":[23],"is":[24,93,136],"growing":[25],"exponentially.":[26],"This":[27],"paper":[28],"presents":[29],"miniature":[31],"named":[34],"Bipedal":[35],"Robot":[36],"Unit":[37],"with":[38,118,140],"Compliance":[39],"Enhanced":[40],"(BRUCE).":[41],"Each":[42],"leg":[43,68],"BRUCE":[45,92,115],"has":[46],"five":[47],"degrees":[48],"freedom":[50],"(DoFs),":[51],"which":[52],"includes":[53],"spherical":[55],"hip":[56,83,176],"joint,":[57,60],"knee":[59],"and":[61,75,84,110,147,160,182],"an":[62],"ankle":[63,85],"joint.":[64],"To":[65],"lower":[66,105],"inertia,":[69],"cable-driven":[71],"differential":[72],"pulley":[73],"linkage":[77],"mechanism":[78],"are":[79],"applied":[80],"to":[81,95,102,154,169],"joints,":[86],"respectively.":[87],"With":[88],"proposed":[90],"design,":[91],"able":[94],"achieve":[96],"similar":[98],"range":[99],"motion":[101],"human's":[104],"body.":[106],"The":[107],"proprioceptive":[108],"actuation":[109],"contact":[111],"sensing":[112],"further":[113],"prepare":[114],"interactions":[117],"unstructured":[119],"environments.":[120],"For":[121],"real-time":[122],"control":[123,134],"motions,":[126],"convex":[128],"formulation":[129],"model":[131,158],"hierarchy":[132],"predictive":[133],"(MHPC)":[135],"introduced.":[137],"MHPC":[138],"plans":[139],"whole-body":[141],"dynamics":[142,149],"in":[143,150],"near":[145],"horizon":[146,153],"simplified":[148],"long":[152],"benefit":[155],"from":[156],"both":[157],"accuracy":[159],"computational":[161],"efficiency.":[162],"A":[163],"series":[164],"experiments":[166],"were":[167],"conducted":[168],"evaluate":[170],"overall":[172],"performance":[174],"including":[175],"joint":[177],"analysis,":[178],"walking,":[179],"push":[180],"recovery,":[181],"vertical":[183],"jumping.":[184]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":17},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}