{"id":"https://openalex.org/W1980780059","doi":"https://doi.org/10.1109/iros.2012.6386252","title":"Actuator design for high force proprioceptive control in fast legged locomotion","display_name":"Actuator design for high force proprioceptive control in fast legged locomotion","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1980780059","doi":"https://doi.org/10.1109/iros.2012.6386252","mag":"1980780059"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5019972020","display_name":"Sangok Seok","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangok Seok","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034208427","display_name":"Albert Wang","orcid":"https://orcid.org/0000-0002-0581-5765"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Albert Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112769631","display_name":"David M. Otten","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Otten","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, 02139, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":233,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1970","last_page":"1975"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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":0.9976000189781189,"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":0.996399998664856,"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":0.9936000108718872,"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/actuator","display_name":"Actuator","score":0.7962766885757446},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6733794212341309},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5930715203285217},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5745183229446411},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5121166706085205},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.5042475461959839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45387497544288635},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.37566936016082764},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3704211115837097},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28086113929748535},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2650485038757324},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2191605567932129},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1642759144306183}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7962766885757446},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6733794212341309},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5930715203285217},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5745183229446411},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5121166706085205},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.5042475461959839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45387497544288635},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.37566936016082764},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3704211115837097},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28086113929748535},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2650485038757324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2191605567932129},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1642759144306183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386252","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386252","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 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":0.6200000047683716}],"awards":[],"funders":[{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":46,"referenced_works":["https://openalex.org/W1564196539","https://openalex.org/W1589460981","https://openalex.org/W1594060995","https://openalex.org/W1602370109","https://openalex.org/W1975230295","https://openalex.org/W1980699918","https://openalex.org/W2018064347","https://openalex.org/W2025936988","https://openalex.org/W2030073258","https://openalex.org/W2041737075","https://openalex.org/W2047234459","https://openalex.org/W2054186704","https://openalex.org/W2070122598","https://openalex.org/W2072242545","https://openalex.org/W2072625467","https://openalex.org/W2077676902","https://openalex.org/W2078139367","https://openalex.org/W2097446805","https://openalex.org/W2097759406","https://openalex.org/W2102762991","https://openalex.org/W2104181254","https://openalex.org/W2109643917","https://openalex.org/W2111253117","https://openalex.org/W2120085742","https://openalex.org/W2140151460","https://openalex.org/W2142784964","https://openalex.org/W2148325652","https://openalex.org/W2148365828","https://openalex.org/W2152691590","https://openalex.org/W2157826678","https://openalex.org/W2160279521","https://openalex.org/W2162189406","https://openalex.org/W2169008203","https://openalex.org/W2169706473","https://openalex.org/W2288146251","https://openalex.org/W2296414068","https://openalex.org/W4234812462","https://openalex.org/W4245141883","https://openalex.org/W4285719527","https://openalex.org/W6633636042","https://openalex.org/W6635202470","https://openalex.org/W6644135095","https://openalex.org/W6676573774","https://openalex.org/W6682133116","https://openalex.org/W6696529113","https://openalex.org/W6697594562"],"related_works":["https://openalex.org/W1659356714","https://openalex.org/W3101820272","https://openalex.org/W1991133586","https://openalex.org/W2052513766","https://openalex.org/W1831760065","https://openalex.org/W2063510546","https://openalex.org/W4308797310","https://openalex.org/W2068433414","https://openalex.org/W2717239715","https://openalex.org/W2007638209"],"abstract_inverted_index":{"High":[0],"speed":[1,132],"legged":[2],"locomotion":[3],"involves":[4],"high":[5,131],"acceleration":[6],"and":[7,29,112],"extensive":[8],"loadings":[9],"of":[10,70,99],"the":[11,41,67,71,80,89,92,107,116],"leg,":[12],"which":[13],"impose":[14],"critical":[15],"challenges":[16],"in":[17,106,115],"actuator":[18,22],"design.":[19],"We":[20],"introduce":[21],"dimensional":[23],"analysis":[24,42],"for":[25,45],"maximizing":[26],"torque":[27],"density":[28],"transmission":[30,75],"`transparency'.":[31],"A":[32],"front":[33],"leg":[34,57,81],"prototype":[35],"developed":[36],"based":[37],"on":[38,60],"insight":[39],"from":[40,77],"is":[43,104,113,128],"evaluated":[44],"direct":[46],"proprioceptive":[47],"force":[48,51,103,125],"control":[49,127],"without":[50],"sensors.":[52],"The":[53,120],"vertical":[54],"stiffness":[55,110],"controlled":[56],"was":[58,82],"tested":[59],"a":[61,97],"material":[62],"testing":[63],"device":[64],"to":[65,84],"calibrate":[66],"mechanical":[68],"impedance":[69,76],"leg.":[72],"By":[73],"compensating":[74],"commanded":[78],"torque,":[79],"able":[83],"estimate":[85],"impact":[86,90],"force.":[87],"For":[88],"test,":[91],"mean":[93],"absolute":[94],"error":[95],"as":[96],"ratio":[98],"full":[100],"scale":[101],"sensor":[102],"0.041":[105],"3406":[108],"N/m":[109,118],"experiment":[111],"0.049":[114],"5038":[117],"experiment.":[119],"results":[121],"indicate":[122],"that":[123],"prescribed":[124],"profile":[126],"possible":[129],"during":[130],"locomotion.":[133]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":25},{"year":2022,"cited_by_count":19},{"year":2021,"cited_by_count":26},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":21},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":24},{"year":2015,"cited_by_count":14},{"year":2014,"cited_by_count":14},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
