{"id":"https://openalex.org/W2295130897","doi":"https://doi.org/10.1109/lra.2016.2528294","title":"Design Principles for a Family of Direct-Drive Legged Robots","display_name":"Design Principles for a Family of Direct-Drive Legged Robots","publication_year":2016,"publication_date":"2016-02-11","ids":{"openalex":"https://openalex.org/W2295130897","doi":"https://doi.org/10.1109/lra.2016.2528294","mag":"2295130897"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2016.2528294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528294","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://repository.upenn.edu/bitstreams/8592ddaa-98e8-4163-844f-e6ea737b9422/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019054159","display_name":"Gavin Kenneally","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Gavin Kenneally","raw_affiliation_strings":["Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031870822","display_name":"Avik De","orcid":"https://orcid.org/0000-0002-2156-3705"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avik De","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032878","display_name":"Daniel E. Koditschek","orcid":"https://orcid.org/0000-0001-5188-1352"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. E. Koditschek","raw_affiliation_strings":["Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, PA, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019054159"],"corresponding_institution_ids":["https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":16.7952,"has_fulltext":true,"cited_by_count":314,"citation_normalized_percentile":{"value":0.99502631,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"1","issue":"2","first_page":"900","last_page":"907"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9745000004768372,"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/robot","display_name":"Robot","score":0.6499627828598022},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6041498780250549},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5992730855941772},{"id":"https://openalex.org/keywords/transparency","display_name":"Transparency (behavior)","score":0.5345890522003174},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5337952375411987},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3363338112831116},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25759851932525635},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.07922354340553284},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.06385663151741028}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6499627828598022},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6041498780250549},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5992730855941772},{"id":"https://openalex.org/C2780233690","wikidata":"https://www.wikidata.org/wiki/Q535347","display_name":"Transparency (behavior)","level":2,"score":0.5345890522003174},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5337952375411987},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3363338112831116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25759851932525635},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.07922354340553284},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.06385663151741028},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2016.2528294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2016.2528294","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:repository.upenn.edu:ese_papers-1766","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/705","pdf_url":"https://repository.upenn.edu/bitstreams/8592ddaa-98e8-4163-844f-e6ea737b9422/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/33936","is_oa":true,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/33936","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"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":"1","raw_type":"Article"}],"best_oa_location":{"id":"pmh:oai:repository.upenn.edu:ese_papers-1766","is_oa":true,"landing_page_url":"https://repository.upenn.edu/ese_papers/705","pdf_url":"https://repository.upenn.edu/bitstreams/8592ddaa-98e8-4163-844f-e6ea737b9422/download","source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Departmental Papers (ESE)","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2564609869","display_name":null,"funder_award_id":"326008481","funder_id":"https://openalex.org/F4320334593","funder_display_name":"Natural Sciences and Engineering Research Council of Canada"},{"id":"https://openalex.org/G8330157387","display_name":null,"funder_award_id":"W911NF-10-2-0016","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"}],"funders":[{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W2295130897.pdf"},"referenced_works_count":44,"referenced_works":["https://openalex.org/W19771005","https://openalex.org/W181719118","https://openalex.org/W338169880","https://openalex.org/W1527751191","https://openalex.org/W1564897360","https://openalex.org/W1570717418","https://openalex.org/W1601704323","https://openalex.org/W1768536314","https://openalex.org/W1944242754","https://openalex.org/W1967377907","https://openalex.org/W1978023077","https://openalex.org/W1979445726","https://openalex.org/W1980780059","https://openalex.org/W1993638076","https://openalex.org/W2001180026","https://openalex.org/W2005784158","https://openalex.org/W2029294123","https://openalex.org/W2030073258","https://openalex.org/W2052719935","https://openalex.org/W2057662595","https://openalex.org/W2066202893","https://openalex.org/W2094496385","https://openalex.org/W2101674304","https://openalex.org/W2111253117","https://openalex.org/W2133782598","https://openalex.org/W2135464393","https://openalex.org/W2137751226","https://openalex.org/W2138671676","https://openalex.org/W2152526632","https://openalex.org/W2161427949","https://openalex.org/W2204444911","https://openalex.org/W2210741219","https://openalex.org/W2225798906","https://openalex.org/W2294717206","https://openalex.org/W2295130897","https://openalex.org/W2337224132","https://openalex.org/W2610857016","https://openalex.org/W3217246742","https://openalex.org/W4240536764","https://openalex.org/W4250087872","https://openalex.org/W4285719527","https://openalex.org/W6600786494","https://openalex.org/W6607228870","https://openalex.org/W6637820340"],"related_works":["https://openalex.org/W4382930947","https://openalex.org/W3152382318","https://openalex.org/W3004686567","https://openalex.org/W2738656338","https://openalex.org/W2555400967","https://openalex.org/W3214759741","https://openalex.org/W3081288631","https://openalex.org/W3174876210","https://openalex.org/W2388458847","https://openalex.org/W2028594013"],"abstract_inverted_index":{"This":[0],"letter":[1],"introduces":[2],"Minitaur,":[3],"a":[4,12,22,63],"dynamically":[5],"running":[6],"and":[7,38,76],"leaping":[8],"quadruped,":[9],"which":[10],"represents":[11],"novel":[13],"class":[14],"of":[15,29,49,65,83],"direct-drive":[16],"(DD)":[17],"legged":[18,74,86],"robots.":[19],"We":[20,57],"present":[21],"methodology":[23],"that":[24],"achieves":[25],"the":[26,79],"well-known":[27],"benefits":[28,61],"DD":[30,59],"robot":[31],"design":[32],"(transparency,":[33],"mechanical":[34],"robustness/efficiency,":[35],"high-actuation":[36],"bandwidth,":[37],"increased":[39],"specific":[40,55],"power),":[41],"affording":[42],"highly":[43],"energetic":[44],"behaviors":[45],"across":[46],"our":[47,68],"family":[48],"machines":[50],"despite":[51],"severe":[52],"limitations":[53],"in":[54],"force.":[56],"quantify":[58],"drivetrain":[60],"using":[62],"variety":[64],"metrics,":[66],"compare":[67],"machines'":[69],"performance":[70],"to":[71],"previously":[72],"reported":[73],"platforms,":[75],"speculate":[77],"on":[78],"potential":[80],"broad-reaching":[81],"value":[82],"\u201ctransparency\u201d":[84],"for":[85],"locomotion.":[87]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":34},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":36},{"year":2021,"cited_by_count":37},{"year":2020,"cited_by_count":43},{"year":2019,"cited_by_count":40},{"year":2018,"cited_by_count":25},{"year":2017,"cited_by_count":24},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":2}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}