{"id":"https://openalex.org/W2171996789","doi":"https://doi.org/10.1109/iros.2011.6094504","title":"ScarlETH: Design and control of a planar running robot","display_name":"ScarlETH: Design and control of a planar running robot","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2171996789","doi":"https://doi.org/10.1109/iros.2011.6094504","mag":"2171996789"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094504","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/20.500.11850/43145","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M. Hutter","raw_affiliation_strings":["Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004156203","display_name":"C. David Remy","orcid":"https://orcid.org/0000-0002-4072-8034"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"C. D. Remy","raw_affiliation_strings":["Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111960475","display_name":"Mark A. Hoepflinger","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"M. A. Hoepflinger","raw_affiliation_strings":["Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"R. Siegwart","raw_affiliation_strings":["Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Autonomous Systems laboratory, Institute of Robotics and Intelligent Systems, Swiss FederalInstitute of Technology (ETHZ), Zurich, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":18.0816,"has_fulltext":false,"cited_by_count":100,"citation_normalized_percentile":{"value":0.99548329,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"562","last_page":"567"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998000264167786,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9890999794006348,"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/pulley","display_name":"Pulley","score":0.7052117586135864},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6315057277679443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5999347567558289},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5945788621902466},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.506482720375061},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4664798378944397},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.450244665145874},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4467742443084717},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.43499094247817993},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42509520053863525},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4064733386039734},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35981130599975586},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21639373898506165},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17339491844177246},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11117032170295715}],"concepts":[{"id":"https://openalex.org/C171937826","wikidata":"https://www.wikidata.org/wiki/Q48378","display_name":"Pulley","level":2,"score":0.7052117586135864},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6315057277679443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5999347567558289},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5945788621902466},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.506482720375061},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4664798378944397},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.450244665145874},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4467742443084717},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.43499094247817993},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42509520053863525},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4064733386039734},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35981130599975586},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21639373898506165},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17339491844177246},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11117032170295715},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2011.6094504","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094504","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/43145","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/43145","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011","raw_type":"Conference Paper"},{"id":"doi:10.3929/ethz-a-010025731","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-a-010025731","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:research-collection.ethz.ch:20.500.11850/43145","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/43145","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : (IROS 2011) ; San Francisco, California, USA, 25 - 30 September 2011","raw_type":"Conference Paper"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8799999952316284,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W959850748","https://openalex.org/W1589503602","https://openalex.org/W1596218917","https://openalex.org/W1596567109","https://openalex.org/W1874450194","https://openalex.org/W1974986187","https://openalex.org/W1981918565","https://openalex.org/W1989602340","https://openalex.org/W2008342119","https://openalex.org/W2013540137","https://openalex.org/W2065238107","https://openalex.org/W2078139367","https://openalex.org/W2081115468","https://openalex.org/W2086587468","https://openalex.org/W2087858257","https://openalex.org/W2093937828","https://openalex.org/W2098484883","https://openalex.org/W2106848320","https://openalex.org/W2111253117","https://openalex.org/W2119911729","https://openalex.org/W2138671676","https://openalex.org/W2145499285","https://openalex.org/W2150317946","https://openalex.org/W2155970105","https://openalex.org/W2158641070","https://openalex.org/W2159873858","https://openalex.org/W2161427949","https://openalex.org/W2162488100","https://openalex.org/W2165213282","https://openalex.org/W2165529265","https://openalex.org/W2170320699","https://openalex.org/W2190229316","https://openalex.org/W2229648176","https://openalex.org/W2663340342","https://openalex.org/W3127002043","https://openalex.org/W4214746323","https://openalex.org/W4248763805","https://openalex.org/W4285719527","https://openalex.org/W6625041055","https://openalex.org/W6639175280"],"related_works":["https://openalex.org/W2722606392","https://openalex.org/W2357124094","https://openalex.org/W2389891446","https://openalex.org/W2051081090","https://openalex.org/W2010636391","https://openalex.org/W2387399993","https://openalex.org/W205794235","https://openalex.org/W2776538682","https://openalex.org/W3134656980","https://openalex.org/W2384140996"],"abstract_inverted_index":{"This":[0,109],"paper":[1],"introduces":[2],"the":[3,7,11,43,55,66,70,75,80,86,111,114],"mechanical":[4],"design":[5,64],"and":[6,27,53,61,78,88,100,125],"control":[8,97,106],"concept":[9],"of":[10,82,117],"Series":[12],"Compliant":[13],"Articulated":[14],"Robotic":[15],"Leg":[16],"ScarlETH":[17],"which":[18,45,134],"was":[19,135],"developed":[20],"at":[21],"ETH":[22],"Zurich":[23],"for":[24,94,101,113,122,131],"fast,":[25],"efficient,":[26],"versatile":[28],"locomotion.":[29],"Inspired":[30],"by":[31],"biological":[32],"systems,":[33],"we":[34],"seek":[35],"to":[36,74],"achieve":[37],"this":[38],"through":[39],"large":[40],"compliances":[41],"in":[42,85,138],"joints":[44],"enable":[46],"natural":[47],"dynamics,":[48],"allow":[49,93],"temporary":[50],"energy":[51],"storage,":[52],"improve":[54],"passive":[56],"adaptability.":[57],"A":[58],"sophisticated":[59],"chain":[60],"cable":[62],"pulley":[63],"minimizes":[65],"segment":[67],"masses,":[68],"places":[69],"overall":[71],"CoG":[72],"close":[73],"hip":[76],"joint,":[77],"maximizes":[79],"range":[81],"motion.":[83],"Nonlinearities":[84],"damping":[87],"an":[89],"appropriate":[90],"low-level":[91],"controller":[92,121,130],"precise":[95],"torque":[96],"during":[98,107],"stance":[99],"fast":[102],"task":[103],"space":[104],"position":[105],"swing.":[108],"paved":[110],"road":[112],"combined":[115],"application":[116],"a":[118,126],"virtual":[119],"model":[120],"ground":[123],"contact":[124],"modified":[127],"Raibert":[128],"style":[129],"flight":[132],"phase":[133],"successfully":[136],"tested":[137],"planar":[139],"running.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":13},{"year":2015,"cited_by_count":7},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":13}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
