{"id":"https://openalex.org/W1981492033","doi":"https://doi.org/10.1109/iros.2013.6697205","title":"The use of a hydraulic DC-DC converter in the actuation of a robotic leg","display_name":"The use of a hydraulic DC-DC converter in the actuation of a robotic leg","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1981492033","doi":"https://doi.org/10.1109/iros.2013.6697205","mag":"1981492033"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6697205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 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/A5111365498","display_name":"Shuang Peng","orcid":"https://orcid.org/0000-0001-8795-2431"},"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":"S. Peng","raw_affiliation_strings":["department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090205815","display_name":"Helmut Kogler","orcid":"https://orcid.org/0000-0003-0066-7561"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"H. Kogler","raw_affiliation_strings":["Institute of Machine Design and Hydraulic Drives, Johannes Kepler University Linz, Linz, Austria","Inst. of Machine Design & Hydraulic Drives, Johannes Kepler Univ. Linz, Linz, Austria"],"affiliations":[{"raw_affiliation_string":"Institute of Machine Design and Hydraulic Drives, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]},{"raw_affiliation_string":"Inst. of Machine Design & Hydraulic Drives, Johannes Kepler Univ. Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"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":["department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059688483","display_name":"Rudolf Scheidl","orcid":"https://orcid.org/0000-0002-1034-7310"},"institutions":[{"id":"https://openalex.org/I121883995","display_name":"Johannes Kepler University of Linz","ror":"https://ror.org/052r2xn60","country_code":"AT","type":"education","lineage":["https://openalex.org/I121883995"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"R. Scheidl","raw_affiliation_strings":["Institute of Machine Design and Hydraulic Drives, Johannes Kepler University Linz, Linz, Austria","Inst. of Machine Design & Hydraulic Drives, Johannes Kepler Univ. Linz, Linz, Austria"],"affiliations":[{"raw_affiliation_string":"Institute of Machine Design and Hydraulic Drives, Johannes Kepler University Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]},{"raw_affiliation_string":"Inst. of Machine Design & Hydraulic Drives, Johannes Kepler Univ. Linz, Linz, Austria","institution_ids":["https://openalex.org/I121883995"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002192089","display_name":"David T. Branson","orcid":"https://orcid.org/0000-0001-5818-666X"},"institutions":[{"id":"https://openalex.org/I142263535","display_name":"University of Nottingham","ror":"https://ror.org/01ee9ar58","country_code":"GB","type":"education","lineage":["https://openalex.org/I142263535"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"D. T. Branson","raw_affiliation_strings":["University of Nottingham, Nottingham, UK","University of Nottingham Nottingham UK"],"affiliations":[{"raw_affiliation_string":"University of Nottingham, Nottingham, UK","institution_ids":["https://openalex.org/I142263535"]},{"raw_affiliation_string":"University of Nottingham Nottingham UK","institution_ids":["https://openalex.org/I142263535"]}]},{"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":["department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy"],"affiliations":[{"raw_affiliation_string":"department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5111365498"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.3997,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.62784968,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9977999925613403,"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/bandwidth-throttling","display_name":"Bandwidth throttling","score":0.6967620849609375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5576900243759155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4915517270565033},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4845658838748932},{"id":"https://openalex.org/keywords/hydraulic-machinery","display_name":"Hydraulic machinery","score":0.47544312477111816},{"id":"https://openalex.org/keywords/buck-converter","display_name":"Buck converter","score":0.46790963411331177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44280120730400085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32835274934768677},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.21576839685440063},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.14662843942642212},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1400945782661438},{"id":"https://openalex.org/keywords/voltage","display_name":"Voltage","score":0.12134957313537598},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07335346937179565}],"concepts":[{"id":"https://openalex.org/C173061102","wikidata":"https://www.wikidata.org/wiki/Q478819","display_name":"Bandwidth throttling","level":3,"score":0.6967620849609375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5576900243759155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4915517270565033},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4845658838748932},{"id":"https://openalex.org/C11394606","wikidata":"https://www.wikidata.org/wiki/Q1972552","display_name":"Hydraulic machinery","level":2,"score":0.47544312477111816},{"id":"https://openalex.org/C150818752","wikidata":"https://www.wikidata.org/wiki/Q83804","display_name":"Buck converter","level":3,"score":0.46790963411331177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44280120730400085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32835274934768677},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.21576839685440063},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.14662843942642212},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1400945782661438},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.12134957313537598},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07335346937179565},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C131097465","wikidata":"https://www.wikidata.org/wiki/Q178898","display_name":"Gas compressor","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6697205","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6697205","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1975230295","https://openalex.org/W2007290507","https://openalex.org/W2011429525","https://openalex.org/W2014948962","https://openalex.org/W2095844428","https://openalex.org/W2096836513","https://openalex.org/W2111904757","https://openalex.org/W2142544090","https://openalex.org/W6644135095","https://openalex.org/W6823173665"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2768977604","https://openalex.org/W2062456620","https://openalex.org/W4206954512","https://openalex.org/W2543807526","https://openalex.org/W2387761380","https://openalex.org/W2366473716","https://openalex.org/W3048854954","https://openalex.org/W2113484225","https://openalex.org/W2387625967"],"abstract_inverted_index":{"This":[0,95],"paper":[1],"presents":[2],"the":[3,17,27,82,105,133,142,152,163],"application":[4],"of":[5,19,26,33,44,47,70,85,89,97,117,135,141,165,194],"a":[6,11,20,34,61,67,86,90,114,145,172,189],"hydraulic":[7,48,91,98],"DC-DC":[8,56],"converter,":[9],"namely":[10],"step":[12],"down":[13],"Buck":[14,36],"Converter":[15,37],"to":[16,52,60,80,103,127,161],"actuation":[18,49],"robot":[21,29,93],"leg":[22,88],"that":[23,206],"is":[24,78,101,130,149,158,200],"part":[25],"quadruped":[28,92],"HyQ.":[30],"The":[31,110,122,139,192,202],"use":[32,134],"Hydraulic":[35,173],"(HBC)":[38],"offers":[39],"significant":[40],"advantages":[41],"in":[42,107,120,188],"terms":[43],"improved":[45],"efficiency":[46,83],"systems":[50,208],"analogously":[51],"an":[53],"electric":[54],"switching":[55,115],"converter":[57,100],"as":[58],"opposed":[59],"rheostatic-type":[62],"system.":[63],"In":[64],"this":[65],"paper,":[66],"HBC":[68,111,153,166,207],"consisting":[69],"two":[71,75,108,168],"digital":[72],"valves":[73,77,181],"and":[74,171,197],"check":[76,137],"introduced":[79],"improve":[81],"performance":[84,125,140,164,193],"singl":[87],"(HyQ).":[94],"type":[96],"buck":[99],"able":[102],"support":[104],"locomotion":[106],"directions.":[109],"operates":[112],"at":[113],"frequency":[116],"100":[118],"Hz":[119],"pulse-width-modulation.":[121],"better":[123],"energy":[124,198],"compared":[126,150],"proportional":[128,147,180],"control":[129,183],"achieved":[131],"by":[132,185],"fast":[136],"valves.":[138],"system":[143],"with":[144,151,167,214],"3-way-4-position":[146],"valve":[148],"drive.":[154],"A":[155],"test":[156],"rig":[157],"set":[159],"up":[160],"investigate":[162],"different":[169],"controllers":[170],"Proportional":[174],"Drive":[175],"(HPD)":[176],"system,":[177],"based":[178],"on":[179],"which":[182],"flow,":[184],"throttling":[186],"it,":[187],"dissipative":[190],"manner.":[191],"position":[195,212],"tracking":[196,213],"consumption":[199],"evaluated.":[201],"experimental":[203],"results":[204],"indicate":[205],"can":[209],"achieve":[210],"similar":[211],"relatively":[215],"less":[216],"consumed":[217],"energy.":[218]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}