{"id":"https://openalex.org/W3207123071","doi":"https://doi.org/10.1109/icra48506.2021.9561615","title":"Balancing on a Springy Leg","display_name":"Balancing on a Springy Leg","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207123071","doi":"https://doi.org/10.1109/icra48506.2021.9561615","mag":"3207123071"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9561615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561615","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":"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/A5053619421","display_name":"Juan D. Gamba","orcid":"https://orcid.org/0000-0002-0283-1305"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"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":true,"raw_author_name":"Juan D. Gamba","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Dept. Advanced Robotics,Genoa,Italy","Dept. Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","Dept. Informatics, Bioengineering, Robotics and Systems Engineering (Dibris), University of Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Dept. Advanced Robotics,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. Informatics, Bioengineering, Robotics and Systems Engineering (Dibris), University of Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035226540","display_name":"Roy Featherstone","orcid":"https://orcid.org/0000-0002-6180-2846"},"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":"Roy Featherstone","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Dept. Advanced Robotics,Genoa,Italy","Dept. Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Dept. Advanced Robotics,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5053619421"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I83816512"],"apc_list":null,"apc_paid":null,"fwci":0.2507,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.49955661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"15","issue":null,"first_page":"4970","last_page":"4975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.996999979019165,"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/controller","display_name":"Controller (irrigation)","score":0.6851663589477539},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6699652075767517},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5996401309967041},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5936170816421509},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.5801813006401062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5373529195785522},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.4942657947540283},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4576735198497772},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.45276135206222534},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4164216220378876},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40207821130752563},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.34764525294303894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2575799226760864},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1657005250453949},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15752843022346497},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1389234960079193},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.10002920031547546}],"concepts":[{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6851663589477539},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6699652075767517},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5996401309967041},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5936170816421509},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.5801813006401062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5373529195785522},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.4942657947540283},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4576735198497772},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.45276135206222534},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4164216220378876},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40207821130752563},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.34764525294303894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2575799226760864},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1657005250453949},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15752843022346497},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1389234960079193},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.10002920031547546},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9561615","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9561615","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1515570182","https://openalex.org/W1970912542","https://openalex.org/W1975093075","https://openalex.org/W1983306242","https://openalex.org/W1989901771","https://openalex.org/W1992103367","https://openalex.org/W2003013030","https://openalex.org/W2013232999","https://openalex.org/W2077895043","https://openalex.org/W2136073474","https://openalex.org/W2149224990","https://openalex.org/W2161427949","https://openalex.org/W2168164612","https://openalex.org/W2189158666","https://openalex.org/W2295490972","https://openalex.org/W2529062991","https://openalex.org/W2560658338","https://openalex.org/W2586228764","https://openalex.org/W2603837963","https://openalex.org/W2738500065","https://openalex.org/W2883488766","https://openalex.org/W2967571669","https://openalex.org/W3006891653","https://openalex.org/W6687310378"],"related_works":["https://openalex.org/W2104679583","https://openalex.org/W2059875971","https://openalex.org/W2064015862","https://openalex.org/W3020683276","https://openalex.org/W4206718122","https://openalex.org/W2131964796","https://openalex.org/W2150737902","https://openalex.org/W1570008902","https://openalex.org/W2073335038","https://openalex.org/W2169902577"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,11,27,47,62],"simulation":[4],"study":[5,54],"of":[6,9,33,52],"the":[7,17,58,68,75,92,110,115],"problem":[8],"balancing":[10],"planar":[12],"double":[13],"pendulum":[14],"in":[15],"which":[16,61],"lower":[18],"body":[19],"(the":[20],"leg)":[21],"has":[22],"been":[23],"modified":[24],"to":[25,56,60],"include":[26],"spring-loaded":[28,93],"passive":[29],"prismatic":[30],"joint.":[31],"Robots":[32],"this":[34,53],"kind":[35],"can":[36,41,65,83,103],"travel":[37],"by":[38,114],"hopping,":[39],"and":[40,44,70,101],"also":[42],"stand":[43],"balance":[45,63,89,116],"on":[46],"single":[48],"point.":[49],"The":[50],"purpose":[51],"is":[55,78,95],"investigate":[57],"degree":[59],"controller":[64,90],"cope":[66],"with":[67],"large":[69],"rapidly":[71],"changing":[72],"forces":[73],"from":[74],"spring.":[76],"It":[77],"shown":[79],"that":[80,98],"good":[81],"performance":[82],"be":[84,104],"achieved":[85],"using":[86],"an":[87],"existing":[88],"if":[91],"joint":[94],"instrumented":[96],"so":[97],"its":[99],"position":[100],"velocity":[102],"taken":[105],"into":[106],"account":[107],"when":[108],"calculating":[109],"state":[111],"variables":[112],"needed":[113],"controller.":[117]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
