{"id":"https://openalex.org/W4408304457","doi":"https://doi.org/10.1109/iecon55916.2024.10905170","title":"Impedance Control of a Compliant Robotic Leg For Reducing Landing Ground Impact","display_name":"Impedance Control of a Compliant Robotic Leg For Reducing Landing Ground Impact","publication_year":2024,"publication_date":"2024-11-03","ids":{"openalex":"https://openalex.org/W4408304457","doi":"https://doi.org/10.1109/iecon55916.2024.10905170"},"language":"en","primary_location":{"id":"doi:10.1109/iecon55916.2024.10905170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"},"type":"conference-paper","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/A5099841506","display_name":"Junlei Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junlei Zhu","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032300713","display_name":"Yu Hu","orcid":"https://orcid.org/0000-0001-7906-6640"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu Hu","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023372208","display_name":"Yiming Chen","orcid":"https://orcid.org/0009-0008-4224-8377"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yiming Chen","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I30809798"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100434479","display_name":"Jiahao Chen","orcid":"https://orcid.org/0000-0002-8927-5646"},"institutions":[{"id":"https://openalex.org/I30809798","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786","country_code":"CN","type":"education","lineage":["https://openalex.org/I30809798"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahao Chen","raw_affiliation_strings":["ShanghaiTech University,School of Information Science and Technology,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ShanghaiTech University,School of Information Science and Technology,China","institution_ids":["https://openalex.org/I30809798"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30809798"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11487","display_name":"Automotive and Human Injury Biomechanics","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},"topics":[{"id":"https://openalex.org/T11487","display_name":"Automotive and Human Injury Biomechanics","score":0.9882000088691711,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9768999814987183,"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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9724000096321106,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/electrical-impedance","display_name":"Electrical impedance","score":0.5777971148490906},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5039109587669373},{"id":"https://openalex.org/keywords/unmanned-ground-vehicle","display_name":"Unmanned ground vehicle","score":0.475675493478775},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4720227122306824},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44159987568855286},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.43129175901412964},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4201929569244385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3487713932991028},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.34540343284606934},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.184578537940979},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13847598433494568}],"concepts":[{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5777971148490906},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5039109587669373},{"id":"https://openalex.org/C2776548393","wikidata":"https://www.wikidata.org/wiki/Q2031473","display_name":"Unmanned ground vehicle","level":2,"score":0.475675493478775},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4720227122306824},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44159987568855286},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.43129175901412964},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4201929569244385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3487713932991028},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.34540343284606934},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.184578537940979},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13847598433494568}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iecon55916.2024.10905170","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iecon55916.2024.10905170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IECON 2024 - 50th Annual Conference of the IEEE Industrial Electronics Society","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320327675","display_name":"ShanghaiTech University","ror":"https://ror.org/030bhh786"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1996763811","https://openalex.org/W2017239762","https://openalex.org/W2029058516","https://openalex.org/W2114115207","https://openalex.org/W2736536408","https://openalex.org/W2950069298","https://openalex.org/W3021971131","https://openalex.org/W3121497892","https://openalex.org/W3206363598","https://openalex.org/W4389692427","https://openalex.org/W4391422935","https://openalex.org/W4405786061","https://openalex.org/W6645996434"],"related_works":["https://openalex.org/W2011003748","https://openalex.org/W2105907810","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"the":[3,28,43,50,56],"implementation":[4],"of":[5,12,18,23,27],"impedance":[6,44],"control":[7,45],"method":[8],"to":[9,48,54],"a":[10],"pair":[11],"backdrivable":[13],"actuators":[14],"for":[15],"compliant":[16],"walking":[17],"bipedal":[19],"robot.":[20],"The":[21,36],"ability":[22],"simulating":[24],"various":[25],"stiffness":[26],"mechanical":[29],"joints":[30],"is":[31,46],"validated":[32],"with":[33],"experimental":[34],"measurement.":[35],"experiment":[37],"further":[38],"shows":[39],"promising":[40],"results":[41],"that":[42],"able":[47],"reduce":[49],"ground":[51],"impact":[52],"force":[53],"protect":[55],"hardware.":[57]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
