{"id":"https://openalex.org/W3095490979","doi":"https://doi.org/10.1109/icra48506.2021.9560988","title":"Computational design of energy-efficient legged robots: Optimizing for size and actuators","display_name":"Computational design of energy-efficient legged robots: Optimizing for size and actuators","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3095490979","doi":"https://doi.org/10.1109/icra48506.2021.9560988","mag":"3095490979"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.archives-ouvertes.fr/hal-02993624","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5049080271","display_name":"Gabriele Fadini","orcid":"https://orcid.org/0000-0001-7330-5647"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"G. Fadini","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053901723","display_name":"Thomas Flayols","orcid":"https://orcid.org/0000-0001-8078-2206"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"T. Flayols","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038165484","display_name":"Andrea Del Prete","orcid":"https://orcid.org/0000-0003-1275-2851"},"institutions":[{"id":"https://openalex.org/I193223587","display_name":"University of Trento","ror":"https://ror.org/05trd4x28","country_code":"IT","type":"education","lineage":["https://openalex.org/I193223587"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"A. Del Prete","raw_affiliation_strings":["Industrial Engineering Department, University of Trento"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Industrial Engineering Department, University of Trento","institution_ids":["https://openalex.org/I193223587"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"N. Mansard","raw_affiliation_strings":["Artifical and Natural Intelligence Toulouse Insitute (ANITI)","LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Artifical and Natural Intelligence Toulouse Insitute (ANITI)","institution_ids":[]},{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014128188","display_name":"Philippe Sou\u00e8res","orcid":"https://orcid.org/0000-0001-9064-4405"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Soueres","raw_affiliation_strings":["LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LAAS-CNRS, Universit\u00e9 de Toulouse, CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5049080271"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":1.8673,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.84190143,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"9898","last_page":"9904"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9904999732971191,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9864000082015991,"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":0.7852646708488464},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7032102346420288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6190121173858643},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4596957266330719},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.45380666851997375},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.44644710421562195},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.42782062292099},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41797035932540894},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4151829481124878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39582139253616333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26006656885147095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14554831385612488},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10742080211639404}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7852646708488464},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7032102346420288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6190121173858643},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4596957266330719},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.45380666851997375},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.44644710421562195},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.42782062292099},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41797035932540894},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4151829481124878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39582139253616333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26006656885147095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14554831385612488},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10742080211639404},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icra48506.2021.9560988","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02993624v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02993624","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA2021","raw_type":"info:eu-repo/semantics/preprint"},{"id":"pmh:oai:HAL:hal-02993624v2","is_oa":true,"landing_page_url":"https://hal.science/hal-02993624","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE International Conference on Robotics and Automation (ICRA 2021), May 2021, Xian, China. ⟨10.1109/ICRA48506.2021.9560988⟩","raw_type":"Conference papers"},{"id":"pmh:oai:iris.unitn.it:11572/403333","is_oa":true,"landing_page_url":"https://hdl.handle.net/11572/403333","pdf_url":null,"source":{"id":"https://openalex.org/S4306401913","display_name":"Institutional Research Information System (Universit\u00e0 degli Studi di Trento)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I193223587","host_organization_name":"University of Trento","host_organization_lineage":["https://openalex.org/I193223587"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02993624v1","is_oa":true,"landing_page_url":"https://hal.archives-ouvertes.fr/hal-02993624","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA2021","raw_type":"info:eu-repo/semantics/preprint"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.9100000262260437,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W618254468","https://openalex.org/W1997576152","https://openalex.org/W2043709302","https://openalex.org/W2099824239","https://openalex.org/W2136939977","https://openalex.org/W2140190473","https://openalex.org/W2143281686","https://openalex.org/W2153285214","https://openalex.org/W2163668399","https://openalex.org/W2336687883","https://openalex.org/W2415236821","https://openalex.org/W2571976418","https://openalex.org/W2740945595","https://openalex.org/W2790575194","https://openalex.org/W2906487027","https://openalex.org/W2909553221","https://openalex.org/W2947733861","https://openalex.org/W2958619454","https://openalex.org/W2963106632","https://openalex.org/W3003294786","https://openalex.org/W3007035358","https://openalex.org/W3041279945","https://openalex.org/W3044718039","https://openalex.org/W3081791272","https://openalex.org/W4231479711","https://openalex.org/W4236752606","https://openalex.org/W4253394173","https://openalex.org/W4324106947","https://openalex.org/W6702989015","https://openalex.org/W6765879051","https://openalex.org/W6774058687","https://openalex.org/W6780157921"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W785766289","https://openalex.org/W2011222276","https://openalex.org/W2185997459","https://openalex.org/W2967125373"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,34,64,69,97,110,131,137],"computational":[4],"framework":[5,15,77,146],"for":[6,33,50,81],"the":[7,18,29,51,54,73,82,85,87,90,93,103,106,119,123,158],"design":[8,32],"of":[9,21,53,84,92,122,161],"high-performance":[10],"legged":[11],"robotic":[12],"systems.":[13],"The":[14],"relies":[16],"on":[17,41],"concurrent":[19,159],"optimization":[20,66,160],"hardware":[22],"parameters":[23],"and":[24,59,89,105,166],"control":[25],"trajectories":[26],"to":[27,48,57,63,100,135,149,154,157],"find":[28],"best":[30],"robot":[31,107,134,162],"given":[35],"task.":[36,139],"In":[37],"particular,":[38],"we":[39],"focus":[40],"energy":[42,151],"efficiency,":[43],"presenting":[44],"novel":[45,98],"electro-mechanical":[46],"models":[47],"account":[49],"losses":[52],"actuators":[55,104],"due":[56],"friction":[58],"Joule":[60],"effects.":[61],"Thanks":[62],"bi-level":[65],"scheme,":[67],"featuring":[68],"genetic":[70],"algorithm":[71],"in":[72,109],"outer":[74],"loop,":[75],"our":[76,127,145],"can":[78,147],"also":[79],"optimize":[80],"duration":[83],"motion,":[86],"actuators,":[88],"size":[91],"robot.":[94],"We":[95,125],"present":[96],"approach":[99,128],"scale":[101],"both":[102],"structure":[108],"way":[111],"that":[112,144],"ensures":[113],"structural":[114],"integrity":[115],"by":[116,129],"maintaining":[117],"constant":[118],"normalized":[120],"deflection":[121],"links.":[124],"validated":[126],"designing":[130],"two-joint":[132],"monoped":[133],"execute":[136],"jumping":[138],"Our":[140],"simulation":[141],"results":[142],"show":[143],"lead":[148],"remarkable":[150],"savings":[152],"(up":[153],"60%)":[155],"thanks":[156],"size,":[163],"motion":[164],"duration,":[165],"actuators.":[167]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}