{"id":"https://openalex.org/W2773451156","doi":"https://doi.org/10.1109/iros.2017.8202172","title":"Design and experimental implementation of a quasi-direct-drive leg for optimized jumping","display_name":"Design and experimental implementation of a quasi-direct-drive leg for optimized jumping","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773451156","doi":"https://doi.org/10.1109/iros.2017.8202172","mag":"2773451156"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8202172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5075177396","display_name":"Yanran Ding","orcid":"https://orcid.org/0000-0003-4959-1174"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yanran Ding","raw_affiliation_strings":["department of Mechanical Science and Engineering Department, University of Illinois, Urbana-Champaign, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Mechanical Science and Engineering Department, University of Illinois, Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157725225","display_name":"University of Illinois Urbana-Champaign","ror":"https://ror.org/047426m28","country_code":"US","type":"education","lineage":["https://openalex.org/I157725225"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["department of Mechanical Science and Engineering Department, University of Illinois, Urbana-Champaign, IL, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"department of Mechanical Science and Engineering Department, University of Illinois, Urbana-Champaign, IL, USA","institution_ids":["https://openalex.org/I157725225"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157725225"],"apc_list":null,"apc_paid":null,"fwci":4.586,"has_fulltext":false,"cited_by_count":83,"citation_normalized_percentile":{"value":0.95484456,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"300","last_page":"305"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9912999868392944,"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":0.9901000261306763,"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/jumping","display_name":"Jumping","score":0.9209036827087402},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7308209538459778},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6421881318092346},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6360185146331787},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49175551533699036},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4746309518814087},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4371722340583801},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36919158697128296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19305244088172913},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.14005553722381592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08091077208518982}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.9209036827087402},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7308209538459778},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6421881318092346},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6360185146331787},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49175551533699036},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4746309518814087},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4371722340583801},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36919158697128296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19305244088172913},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.14005553722381592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08091077208518982},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8202172","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8202172","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:www.ideals.illinois.edu:2142/98568","is_oa":false,"landing_page_url":"http://hdl.handle.net/2142/98568","pdf_url":null,"source":{"id":"https://openalex.org/S4377196349","display_name":"IDEALS (University of Illinois Urbana-Champaign)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I157725225","host_organization_name":"University of Illinois Urbana-Champaign","host_organization_lineage":["https://openalex.org/I157725225"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1502718064","https://openalex.org/W1536647690","https://openalex.org/W1589460981","https://openalex.org/W1763240259","https://openalex.org/W1969585433","https://openalex.org/W1980780059","https://openalex.org/W2005279427","https://openalex.org/W2030073258","https://openalex.org/W2070314415","https://openalex.org/W2072625467","https://openalex.org/W2110622821","https://openalex.org/W2129224530","https://openalex.org/W2138671676","https://openalex.org/W2148365828","https://openalex.org/W2158641070","https://openalex.org/W2295130897","https://openalex.org/W2593412525","https://openalex.org/W4239578492","https://openalex.org/W4240536764","https://openalex.org/W6631969024","https://openalex.org/W6635202470","https://openalex.org/W6678926541"],"related_works":["https://openalex.org/W2327344714","https://openalex.org/W2110947862","https://openalex.org/W1864610870","https://openalex.org/W2079599406","https://openalex.org/W2157091192","https://openalex.org/W3164987662","https://openalex.org/W2164326006","https://openalex.org/W2123766446","https://openalex.org/W2069603876","https://openalex.org/W2140895886"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"a":[3,22,62,78],"novel":[4],"method":[5],"for":[6],"actuator":[7],"design":[8,31,43],"that":[9,26,73],"exploits":[10],"electromagnetic":[11],"motors'":[12],"torque":[13],"and":[14,39,59,91],"speed":[15],"potential":[16],"in":[17],"jumping":[18,81,94],"applications.":[19],"We":[20],"proposed":[21],"nonlinear":[23],"optimization":[24],"process":[25],"integrates":[27],"(a)":[28],"the":[29,34,41,47,74],"control":[30],"to":[32,44],"obtain":[33],"optimal":[35],"ground":[36],"reaction":[37],"force,":[38],"(b)":[40],"mechanical":[42],"narrow":[45],"down":[46],"choices":[48],"of":[49,69,83,88,96,101],"motor/gearbox":[50],"pair.":[51],"Based":[52],"on":[53],"this":[54],"method,":[55],"actuators":[56],"were":[57],"designed":[58],"assembled":[60],"into":[61],"leg":[63,75,89,102],"prototype":[64],"with":[65],"two":[66],"actuated":[67],"degrees":[68],"freedom.":[70],"Experiments":[71],"demonstrated":[72],"could":[76],"achieve":[77],"maximum":[79,92],"vertical":[80],"height":[82],"0.62":[84],"m":[85,98],"(2.4":[86],"times":[87,100],"length)":[90],"forward":[93],"distance":[95],"0.72":[97],"(2.7":[99],"length).":[103]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":15},{"year":2018,"cited_by_count":8}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}