{"id":"https://openalex.org/W2008897770","doi":"https://doi.org/10.1109/isr.2013.6695666","title":"Simulation study on stabilization of a spring-loaded robotic leg using state feedback","display_name":"Simulation study on stabilization of a spring-loaded robotic leg using state feedback","publication_year":2013,"publication_date":"2013-10-01","ids":{"openalex":"https://openalex.org/W2008897770","doi":"https://doi.org/10.1109/isr.2013.6695666","mag":"2008897770"},"language":"en","primary_location":{"id":"doi:10.1109/isr.2013.6695666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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/A5043997609","display_name":"Yunha Kim","orcid":"https://orcid.org/0000-0001-6713-1900"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yunha Kim","raw_affiliation_strings":["Department of Electrical Engineering, The University of Tokyo, Tokyo, Japan","Dept. of Electr. Eng., Univ. of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Dept. of Electr. Eng., Univ. of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007243736","display_name":"Sehoon Oh","orcid":"https://orcid.org/0000-0003-0838-163X"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sehoon Oh","raw_affiliation_strings":["Department of Mechanical Engineering, Sogang University, Korea","Dept. of Mech. Eng, Sogang Univ., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sogang University, Korea","institution_ids":["https://openalex.org/I148751991"]},{"raw_affiliation_string":"Dept. of Mech. Eng, Sogang Univ., Seoul, South Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5108536663","display_name":"Yoichi Hori","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoichi Hori","raw_affiliation_strings":["Department of Advanced Energy, The University of Tokyo, Chiba, Japan","[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Energy, The University of Tokyo, Chiba, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"[Department of Advanced Energy, University of Tokyo, Kashiwa, Japan]","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.08388121,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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":0.9993000030517578,"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":0.9990000128746033,"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":0.9973000288009644,"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":0.8470367193222046},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.7441092133522034},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6135470271110535},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5916541218757629},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4884277880191803},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4849691390991211},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.471001535654068},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46867474913597107},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.46371200680732727},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.41667819023132324},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21372681856155396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16524869203567505},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14867788553237915}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.8470367193222046},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7441092133522034},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6135470271110535},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5916541218757629},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4884277880191803},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4849691390991211},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.471001535654068},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46867474913597107},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.46371200680732727},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.41667819023132324},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21372681856155396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16524869203567505},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14867788553237915},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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":1,"locations":[{"id":"doi:10.1109/isr.2013.6695666","is_oa":false,"landing_page_url":"https://doi.org/10.1109/isr.2013.6695666","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE ISR 2013","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":15,"referenced_works":["https://openalex.org/W1973418658","https://openalex.org/W1982871593","https://openalex.org/W2005832027","https://openalex.org/W2018149220","https://openalex.org/W2053099831","https://openalex.org/W2084890329","https://openalex.org/W2101998869","https://openalex.org/W2103490944","https://openalex.org/W2120094623","https://openalex.org/W2140910539","https://openalex.org/W2156191906","https://openalex.org/W2332930580","https://openalex.org/W4247486797","https://openalex.org/W6643618210","https://openalex.org/W6671485783"],"related_works":["https://openalex.org/W648845647","https://openalex.org/W2381882558","https://openalex.org/W4388849567","https://openalex.org/W2486266915","https://openalex.org/W964501512","https://openalex.org/W2102267190","https://openalex.org/W1995093229","https://openalex.org/W2363955986","https://openalex.org/W2318030984","https://openalex.org/W2436652189"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,12],"novel":[4],"type":[5],"jumping":[6,59],"robot":[7,84],"using":[8],"bi-articular":[9,44,78],"spring":[10],"and":[11,37,52,72,86,91],"mono-articular":[13],"electric":[14],"motor,":[15],"JUMPBiE.":[16],"The":[17,80],"system":[18,70],"design":[19,85],"is":[20],"based":[21],"on":[22,76],"the":[23,26,33,41,65,68,83],"concept":[24],"of":[25,35,43,54,61,67,82],"mono-bi":[27],"configuration":[28,71],"which":[29],"can":[30],"effectively":[31],"reduce":[32],"number":[34],"actuators":[36,45],"thus":[38],"cost,":[39],"retaining":[40],"characteristics":[42],"such":[46],"as":[47],"high":[48],"compliance,":[49],"stabilization,":[50],"accuracy,":[51],"homogeneity":[53],"motion.":[55],"By":[56],"showing":[57],"extensive":[58],"control":[60],"JUMPBiE,":[62],"it":[63],"proves":[64],"feasibility":[66],"proposed":[69],"provides":[73],"in-depth":[74],"insights":[75],"under-actuated":[77],"actuation.":[79],"background":[81],"its":[87],"modeling":[88],"were":[89],"elaborated,":[90],"discussed":[92],"with":[93],"relevant":[94],"simulation":[95],"results.":[96]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
