{"id":"https://openalex.org/W4383108400","doi":"https://doi.org/10.1109/icra48891.2023.10161209","title":"Computational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation","display_name":"Computational Design of Closed-Chain Linkages: Hopping Robot Driven by Morphological Computation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383108400","doi":"https://doi.org/10.1109/icra48891.2023.10161209"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5084340500","display_name":"Kirill V. Nasonov","orcid":null},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Kirill V. Nasonov","raw_affiliation_strings":["ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041404348","display_name":"Dmitriy V. Ivolga","orcid":null},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Dmitriy V. Ivolga","raw_affiliation_strings":["ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103058126","display_name":"Ivan I. Borisov","orcid":"https://orcid.org/0000-0003-0168-6609"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Ivan I. Borisov","raw_affiliation_strings":["ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001747199","display_name":"Sergey A. Kolyubin","orcid":"https://orcid.org/0000-0002-8057-1959"},"institutions":[{"id":"https://openalex.org/I173089394","display_name":"ITMO University","ror":"https://ror.org/04txgxn49","country_code":"RU","type":"education","lineage":["https://openalex.org/I173089394"]}],"countries":["RU"],"is_corresponding":false,"raw_author_name":"Sergey A. Kolyubin","raw_affiliation_strings":["ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ITMO University,Biomechatronics and Energy-Efficient Robotics Lab,Saint Petersburg,Russia","institution_ids":["https://openalex.org/I173089394"]},{"raw_affiliation_string":"Biomechatronics and Energy-Efficient Robotics Lab, ITMO University, Saint Petersburg, Russia","institution_ids":["https://openalex.org/I173089394"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.1276,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.75090135,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"7419","last_page":"7425"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9962000250816345,"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/traverse","display_name":"Traverse","score":0.795599639415741},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.778161883354187},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.676866888999939},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5895483493804932},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5585569739341736},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5580965280532837},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5571590065956116},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5508673787117004},{"id":"https://openalex.org/keywords/elasticity","display_name":"Elasticity (physics)","score":0.46896660327911377},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.4666728079319},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.44491544365882874},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4352380037307739},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42376214265823364},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42033955454826355},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3941062092781067},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2774389386177063},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19295823574066162},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1888832449913025},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.10033911466598511}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.795599639415741},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.778161883354187},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.676866888999939},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5895483493804932},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5585569739341736},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5580965280532837},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5571590065956116},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5508673787117004},{"id":"https://openalex.org/C121854251","wikidata":"https://www.wikidata.org/wiki/Q62932","display_name":"Elasticity (physics)","level":2,"score":0.46896660327911377},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.4666728079319},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.44491544365882874},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4352380037307739},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42376214265823364},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42033955454826355},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3941062092781067},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2774389386177063},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19295823574066162},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1888832449913025},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.10033911466598511},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161209","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161209","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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","score":0.8700000047683716,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1980780059","https://openalex.org/W2006444559","https://openalex.org/W2031533893","https://openalex.org/W2140190473","https://openalex.org/W2191073828","https://openalex.org/W2511752147","https://openalex.org/W2583494560","https://openalex.org/W2811027829","https://openalex.org/W2811441473","https://openalex.org/W2908275318","https://openalex.org/W2909553221","https://openalex.org/W2909770505","https://openalex.org/W3003587269","https://openalex.org/W3090207068","https://openalex.org/W3094602192","https://openalex.org/W3107834591","https://openalex.org/W3175681922","https://openalex.org/W3208245705","https://openalex.org/W3210055250","https://openalex.org/W4200058032","https://openalex.org/W4206679659","https://openalex.org/W4250058668","https://openalex.org/W4285102446","https://openalex.org/W4286912336","https://openalex.org/W4313255340","https://openalex.org/W6757895305","https://openalex.org/W6801934930","https://openalex.org/W6802625470"],"related_works":["https://openalex.org/W2377402383","https://openalex.org/W2380835401","https://openalex.org/W2381912691","https://openalex.org/W2350381577","https://openalex.org/W2353618196","https://openalex.org/W2348074676","https://openalex.org/W2385033175","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176"],"abstract_inverted_index":{"The":[0,189],"main":[1],"advantages":[2],"of":[3,21,31,74,83,123,181,205],"legged":[4],"robots":[5],"over":[6],"wheeled":[7],"ones":[8],"are":[9],"their":[10],"abilities":[11],"to":[12,18,27,34,66,79,91,99,113,121],"traverse":[13],"on":[14,158],"uneven":[15],"terrain":[16],"due":[17],"the":[19,29,35,72,80,84,92,179],"use":[20],"intermittent":[22],"contacts":[23],"and":[24,130,152,196,202],"an":[25,47,137],"ability":[26],"shift":[28],"center":[30],"mass":[32,128],"relative":[33],"contact":[36],"location.":[37],"A":[38],"robot's":[39,86],"leg":[40,69,116,194],"design":[41,67],"can":[42,88,173],"be":[43,89],"implemented":[44],"by":[45],"using":[46],"open-chain":[48],"mechanism":[49,70],"actuated":[50],"with":[51,94,140,167],"high-density":[52],"torque":[53],"actuators":[54,171],"though":[55],"this":[56,106,159],"solution":[57],"needs":[58],"a":[59,68,111,115,164,182,192,206],"vast":[60],"energy":[61],"budget.":[62],"An":[63],"alternative":[64],"way":[65],"is":[71,146],"application":[73],"morphological":[75],"computation":[76],"principle.":[77],"According":[78],"principle,":[81],"most":[82],"desired":[85],"behavior":[87],"delegated":[90],"mechanics":[93],"minimum":[95],"control":[96,142,200],"effort":[97],"needed":[98],"excite,":[100],"stabilize":[101],"or":[102,184],"augment":[103],"it.":[104],"Within":[105],"paper,":[107],"we":[108,161],"have":[109,162],"proposed":[110],"method":[112,134],"synthesize":[114],"for":[117],"hopping":[118,165],"robots.":[119],"Due":[120],"optimization":[122],"mechanical":[124],"structure,":[125],"geometric":[126],"parameters,":[127],"distribution,":[129],"elasticity":[131],"allocation,":[132],"our":[133],"allows":[135],"getting":[136],"energy-efficient":[138],"robot":[139,166],"minimal":[141],"system":[143],"complexity,":[144],"which":[145],"accomplished":[147],"via":[148],"series":[149],"elastic":[150],"allocation":[151],"active":[153],"variable":[154],"length":[155],"link.":[156],"Based":[157],"approach,":[160],"designed":[163],"two":[168],"low":[169],"performance":[170],"that":[172],"achieve":[174],"hopping,":[175],"running,":[176],"and,":[177],"in":[178],"case":[180],"biped":[183],"quadruped":[185],"robot,":[186],"walking":[187],"motion.":[188],"paper":[190],"describes":[191],"synthesized":[193],"linkage":[195],"overviews":[197],"prototype":[198],"design,":[199],"strategy,":[201],"test":[203],"results":[204],"physical":[207],"prototype.":[208]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}