{"id":"https://openalex.org/W2105528195","doi":"https://doi.org/10.1109/iros.2003.1250611","title":"Hopping through stiffness modulation method(STIMM)","display_name":"Hopping through stiffness modulation method(STIMM)","publication_year":2004,"publication_date":"2004-07-08","ids":{"openalex":"https://openalex.org/W2105528195","doi":"https://doi.org/10.1109/iros.2003.1250611","mag":"2105528195"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1250611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/A5011857626","display_name":"Sanghak Sung","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sanghak Sung","raw_affiliation_strings":["Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062772405","display_name":"Youngil Youm","orcid":null},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngil Youm","raw_affiliation_strings":["Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020648634","display_name":"Wan Kyun Chung","orcid":"https://orcid.org/0000-0003-2715-5320"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Wankyun Chung","raw_affiliation_strings":["Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Pohang University of Science and Technology, South Korea","institution_ids":["https://openalex.org/I123900574"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea#TAB#","institution_ids":["https://openalex.org/I123900574"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I123900574"],"apc_list":null,"apc_paid":null,"fwci":0.5984,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.68974388,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"94","last_page":"99"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9876999855041504,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9850999712944031,"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/stiffness","display_name":"Stiffness","score":0.8212040662765503},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5836511254310608},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5655789971351624},{"id":"https://openalex.org/keywords/singular-perturbation","display_name":"Singular perturbation","score":0.5417526364326477},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.5394772291183472},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4571734070777893},{"id":"https://openalex.org/keywords/perturbation","display_name":"Perturbation (astronomy)","score":0.4166494607925415},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.22976449131965637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22203588485717773},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21828866004943848},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17758846282958984},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1458204984664917},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14492979645729065},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13799792528152466},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10334315896034241}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8212040662765503},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5836511254310608},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5655789971351624},{"id":"https://openalex.org/C165160513","wikidata":"https://www.wikidata.org/wiki/Q7524249","display_name":"Singular perturbation","level":2,"score":0.5417526364326477},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.5394772291183472},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4571734070777893},{"id":"https://openalex.org/C177918212","wikidata":"https://www.wikidata.org/wiki/Q803623","display_name":"Perturbation (astronomy)","level":2,"score":0.4166494607925415},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.22976449131965637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22203588485717773},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21828866004943848},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17758846282958984},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1458204984664917},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14492979645729065},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13799792528152466},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10334315896034241},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1250611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1250611","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","display_name":"Climate action","score":0.75}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W326275391","https://openalex.org/W1515224583","https://openalex.org/W2097536892","https://openalex.org/W2100185492","https://openalex.org/W2127149351","https://openalex.org/W2155614956","https://openalex.org/W2161427949","https://openalex.org/W4242875786","https://openalex.org/W6678917744"],"related_works":["https://openalex.org/W585100505","https://openalex.org/W4327639758","https://openalex.org/W1998082046","https://openalex.org/W2116787190","https://openalex.org/W2154304710","https://openalex.org/W2019676381","https://openalex.org/W1982149897","https://openalex.org/W2387468633","https://openalex.org/W2006371715","https://openalex.org/W2713536231"],"abstract_inverted_index":{"In":[0],"this":[1,42],"paper,":[2],"we":[3],"present":[4],"hopping":[5],"strategy":[6],"which":[7],"is":[8,48],"more":[9],"human-like":[10],"for":[11,50],"legged":[12],"robot":[13],"through":[14],"stiffness":[15,33],"modulation":[16],"of":[17],"a":[18],"body.":[19],"This":[20],"method":[21,43,47],"enables":[22],"to":[23,40],"reduce":[24],"impact":[25],"force":[26],"on":[27,31],"touch-down":[28],"and":[29,44],"adaption":[30],"ground":[32],"change.":[34],"Simple":[35],"selected":[36],"models":[37],"are":[38],"used":[39,49],"validate":[41],"singular":[45],"perturbation":[46],"control.":[51]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
