{"id":"https://openalex.org/W2115676463","doi":"https://doi.org/10.1109/iros.2010.5651548","title":"Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot","display_name":"Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2115676463","doi":"https://doi.org/10.1109/iros.2010.5651548","mag":"2115676463"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"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":true,"raw_author_name":"C Semini","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"N G Tsagarakis","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032583298","display_name":"E. Guglielmino","orcid":"https://orcid.org/0000-0001-7793-7406"},"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":"E Guglielmino","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"D G Caldwell","raw_affiliation_strings":["Italian Institute of Technology, Genoa, Italy","Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Italian Institute of Technology, Via Morego, 30, 16163 Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5010033061"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":2.1113,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.86904279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3640","last_page":"3645"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9980000257492065,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9810000061988831,"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/hydraulic-cylinder","display_name":"Hydraulic cylinder","score":0.7313543558120728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6353715658187866},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5569112300872803},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.531290590763092},{"id":"https://openalex.org/keywords/hexapod","display_name":"Hexapod","score":0.48924922943115234},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47393590211868286},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4733056128025055},{"id":"https://openalex.org/keywords/electro-hydraulic-actuator","display_name":"Electro-hydraulic actuator","score":0.4582684338092804},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.44491779804229736},{"id":"https://openalex.org/keywords/hydraulic-motor","display_name":"Hydraulic motor","score":0.43134862184524536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4309084117412567},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3954066038131714},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3935029208660126},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2327170968055725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1090192198753357}],"concepts":[{"id":"https://openalex.org/C48431260","wikidata":"https://www.wikidata.org/wiki/Q2318337","display_name":"Hydraulic cylinder","level":2,"score":0.7313543558120728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6353715658187866},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5569112300872803},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.531290590763092},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.48924922943115234},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47393590211868286},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4733056128025055},{"id":"https://openalex.org/C53432115","wikidata":"https://www.wikidata.org/wiki/Q5357907","display_name":"Electro-hydraulic actuator","level":3,"score":0.4582684338092804},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.44491779804229736},{"id":"https://openalex.org/C29450929","wikidata":"https://www.wikidata.org/wiki/Q3183265","display_name":"Hydraulic motor","level":2,"score":0.43134862184524536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4309084117412567},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3954066038131714},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3935029208660126},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2327170968055725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1090192198753357},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5651548","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651548","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W106551690","https://openalex.org/W1487127700","https://openalex.org/W1971609423","https://openalex.org/W1975230295","https://openalex.org/W1977505238","https://openalex.org/W2114036586","https://openalex.org/W2120227089","https://openalex.org/W2132762434","https://openalex.org/W2151130840","https://openalex.org/W2159873858","https://openalex.org/W2161427949","https://openalex.org/W2170686920","https://openalex.org/W2170896522","https://openalex.org/W2326849350","https://openalex.org/W2336579761","https://openalex.org/W2542458831","https://openalex.org/W2599940788","https://openalex.org/W3022377941","https://openalex.org/W6604272163","https://openalex.org/W6629040409","https://openalex.org/W6644135095","https://openalex.org/W6679920585","https://openalex.org/W6701596953","https://openalex.org/W6735082135","https://openalex.org/W6776950223"],"related_works":["https://openalex.org/W2156529072","https://openalex.org/W2891602905","https://openalex.org/W2245035613","https://openalex.org/W2965049960","https://openalex.org/W3119418459","https://openalex.org/W3160963428","https://openalex.org/W2084797674","https://openalex.org/W2044081670","https://openalex.org/W4313562988","https://openalex.org/W2960048462"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,143,173],"the":[4,18,26,56,66,69,73,78,82,89,93,129,135,139,144,160,167],"design":[5,71,168],"and":[6,45,72,117,171],"experimental":[7,79],"evaluation":[8,16,80],"of":[9,17,28,49,68,81,92,110,166],"a":[10,30,47,61],"hydraulically":[11],"actuated":[12,32,41],"robot":[13],"leg.":[14],"The":[15,35,98],"leg":[19,57,94],"prototype":[20,36,58],"is":[21,104,151],"an":[22],"important":[23],"milestone":[24],"in":[25,159],"development":[27],"HyQ,":[29],"Hydraulically":[31],"Quadruped":[33],"robot.":[34],"features":[37],"two":[38],"rotary":[39],"joints":[40],"by":[42,134],"hydraulic":[43,74,83,102],"cylinders":[44],"has":[46],"mass":[48],"4.5kg.":[50],"We":[51],"performed":[52],"several":[53],"experiments":[54],"with":[55,121,138],"attached":[59],"to":[60,64,119,147,153,175],"vertical":[62],"slider":[63],"tests":[65],"robustness":[67],"mechanical":[70],"actuation":[75,103],"system.":[76],"Besides":[77],"components,":[84],"we":[85,127],"also":[86],"extensively":[87],"studied":[88],"sensor":[90],"data":[91,132],"during":[95],"periodic":[96],"hopping.":[97],"results":[99],"show":[100],"that":[101],"suitable":[105],"for":[106],"legged":[107],"robots":[108],"because":[109],"its":[111],"high":[112,122],"power-to-weight":[113],"ratio,":[114],"fast":[115],"response":[116],"ability":[118],"cope":[120],"impact":[123],"force":[124,131],"peaks.":[125],"Furthermore,":[126],"compare":[128],"cylinder":[130,145],"obtained":[133],"load":[136],"cell":[137],"calculated":[140],"value":[141],"based":[142],"pressures":[146],"analyze":[148],"if":[149],"it":[150],"possible":[152],"eliminate":[154],"this":[155],"sensory":[156],"system":[157],"redundancy":[158],"future.":[161],"Through":[162],"these":[163],"studies,":[164],"weaknesses":[165],"were":[169],"identified":[170],"suggestions":[172],"how":[174],"improve":[176],"them":[177],"are":[178],"presented.":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}