{"id":"https://openalex.org/W2785222679","doi":"https://doi.org/10.1109/lra.2018.2795646","title":"Model-Free Design Optimization of a Hopping Robot and Its Comparison With a Human Designer","display_name":"Model-Free Design Optimization of a Hopping Robot and Its Comparison With a Human Designer","publication_year":2018,"publication_date":"2018-01-19","ids":{"openalex":"https://openalex.org/W2785222679","doi":"https://doi.org/10.1109/lra.2018.2795646","mag":"2785222679"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2018.2795646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2795646","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","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.17863/cam.17815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5020214796","display_name":"Kaur Aare Saar","orcid":"https://orcid.org/0000-0001-7959-8591"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":true,"raw_author_name":"Kaur Aare Saar","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007280581","display_name":"Fabio Giardina","orcid":"https://orcid.org/0000-0002-2660-5935"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Fabio Giardina","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041874420","display_name":"Fumiya Iida","orcid":"https://orcid.org/0000-0001-9246-7190"},"institutions":[{"id":"https://openalex.org/I4210096386","display_name":"Bridge University","ror":"https://ror.org/00cbm0437","country_code":"SS","type":"education","lineage":["https://openalex.org/I4210096386"]}],"countries":["SS"],"is_corresponding":false,"raw_author_name":"Fumiya Iida","raw_affiliation_strings":["Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K"],"affiliations":[{"raw_affiliation_string":"Bio-Inspired Robotics Lab, Department of Engineering, University of Cambridge, Cambridge, U.K","institution_ids":["https://openalex.org/I4210096386"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5020214796"],"corresponding_institution_ids":["https://openalex.org/I4210096386"],"apc_list":null,"apc_paid":null,"fwci":2.5556,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.88250277,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"3","issue":"2","first_page":"1245","last_page":"1251"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10672","display_name":"Design Education and Practice","score":0.9939000010490417,"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"}},"topics":[{"id":"https://openalex.org/T10672","display_name":"Design Education and Practice","score":0.9939000010490417,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9927999973297119,"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"}},{"id":"https://openalex.org/T10848","display_name":"Advanced Multi-Objective Optimization Algorithms","score":0.9904000163078308,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/bayesian-optimization","display_name":"Bayesian optimization","score":0.8506824374198914},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6457329392433167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6205281615257263},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.5757967233657837},{"id":"https://openalex.org/keywords/engineering-optimization","display_name":"Engineering optimization","score":0.5481139421463013},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5225481390953064},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5060746073722839},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.4286605417728424},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41470417380332947},{"id":"https://openalex.org/keywords/continuous-optimization","display_name":"Continuous optimization","score":0.4131011664867401},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35327523946762085},{"id":"https://openalex.org/keywords/multi-swarm-optimization","display_name":"Multi-swarm optimization","score":0.2609625458717346},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2245253622531891},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17748776078224182},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12734147906303406},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1150999367237091}],"concepts":[{"id":"https://openalex.org/C2778049539","wikidata":"https://www.wikidata.org/wiki/Q17002908","display_name":"Bayesian optimization","level":2,"score":0.8506824374198914},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6457329392433167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6205281615257263},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.5757967233657837},{"id":"https://openalex.org/C110850998","wikidata":"https://www.wikidata.org/wiki/Q5377895","display_name":"Engineering optimization","level":3,"score":0.5481139421463013},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5225481390953064},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5060746073722839},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.4286605417728424},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41470417380332947},{"id":"https://openalex.org/C92995354","wikidata":"https://www.wikidata.org/wiki/Q5165499","display_name":"Continuous optimization","level":4,"score":0.4131011664867401},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35327523946762085},{"id":"https://openalex.org/C122357587","wikidata":"https://www.wikidata.org/wiki/Q6934508","display_name":"Multi-swarm optimization","level":3,"score":0.2609625458717346},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2245253622531891},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17748776078224182},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12734147906303406},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1150999367237091},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2018.2795646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2018.2795646","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:www.repository.cam.ac.uk:1810/270874","is_oa":false,"landing_page_url":"https://www.repository.cam.ac.uk/handle/1810/270874","pdf_url":null,"source":{"id":"https://openalex.org/S4306401777","display_name":"Apollo (University of Cambridge)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I241749","host_organization_name":"University of Cambridge","host_organization_lineage":["https://openalex.org/I241749"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.17863/cam.17815","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.17815","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"doi:10.17863/cam.17815","is_oa":true,"landing_page_url":"https://doi.org/10.17863/cam.17815","pdf_url":null,"source":{"id":"https://openalex.org/S7407050737","display_name":"Apollo","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article-journal"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G24559435","display_name":null,"funder_award_id":"EP/N03211X/2","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G3873198602","display_name":null,"funder_award_id":"EP/N03211X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G7598418738","display_name":null,"funder_award_id":"EP/N029003/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"},{"id":"https://openalex.org/G8263838145","display_name":"Morphological computation of perception and action","funder_award_id":"EP/N03211X/1","funder_id":"https://openalex.org/F4320334627","funder_display_name":"Engineering and Physical Sciences Research Council"}],"funders":[{"id":"https://openalex.org/F4320334627","display_name":"Engineering and Physical Sciences Research Council","ror":"https://ror.org/0439y7842"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W770013183","https://openalex.org/W1609223620","https://openalex.org/W1787284831","https://openalex.org/W2017423252","https://openalex.org/W2062974695","https://openalex.org/W2099201756","https://openalex.org/W2109008048","https://openalex.org/W2117085697","https://openalex.org/W2131241448","https://openalex.org/W2137123963","https://openalex.org/W2148668910","https://openalex.org/W2168661995","https://openalex.org/W2279369962","https://openalex.org/W2311803749","https://openalex.org/W2314189913","https://openalex.org/W2598046456","https://openalex.org/W2611179787","https://openalex.org/W2762006445","https://openalex.org/W3100472504","https://openalex.org/W4211049957","https://openalex.org/W4214502839","https://openalex.org/W6675200109","https://openalex.org/W6678911119"],"related_works":["https://openalex.org/W2907206257","https://openalex.org/W4312405383","https://openalex.org/W2389841385","https://openalex.org/W1523280855","https://openalex.org/W2792234022","https://openalex.org/W2033459519","https://openalex.org/W3176773450","https://openalex.org/W3171195395","https://openalex.org/W2598852150","https://openalex.org/W3087997050"],"abstract_inverted_index":{"When":[0],"developing":[1],"a":[2,59,88,128,141],"robot,":[3],"design":[4,27,40,79,102,125],"iterations":[5],"in":[6,96,107,153,160,171],"the":[7,51,92,114,123,145,155,161,166,172],"physical":[8],"world":[9],"are":[10,15,69],"necessary,":[11],"even":[12],"though":[13],"they":[14],"often":[16],"costly":[17],"and":[18,55,77,100],"not":[19],"systematic.":[20],"Here,":[21],"we":[22,35],"present":[23],"an":[24],"automated":[25,149],"iterative":[26],"process":[28],"without":[29],"using":[30,58],"modeling":[31],"or":[32],"simulation,":[33],"which":[34,97],"refer":[36],"to":[37,61,137],"as":[38],"\u201cmodel-free":[39],"optimization\u201d":[41],"based":[42],"on":[43,50],"Bayesian":[44],"optimization.":[45],"This":[46],"letter":[47],"particularly":[48],"focuses":[49],"cooptimization":[52],"of":[53,91,119,122,140],"morphology":[54,67],"controller,":[56],"by":[57],"mechanism":[60],"balance":[62],"parameter":[63],"specific":[64],"costs":[65],"(i.e.,":[66],"samplings":[68],"more":[70,158],"expensive":[71],"than":[72],"control":[73],"ones)":[74],"for":[75,87],"effective":[76],"efficient":[78],"optimization":[80,94,103,138,168],"processes.":[81],"A":[82],"hopping":[83],"robot":[84,124],"was":[85],"employed":[86],"feasibility":[89],"analysis":[90],"proposed":[93,115],"method,":[95],"minimalistic":[98],"two-dimensional":[99,173],"four-dimensional":[101,162],"experiments":[104],"were":[105],"performed":[106],"real":[108],"life.":[109],"The":[110,132,148],"results":[111],"show":[112],"that":[113],"approach":[116],"is":[117,134],"capable":[118],"improving":[120],"both":[121],"problems":[126],"within":[127],"defined":[129],"time":[130],"limit.":[131],"method":[133,150],"also":[135],"compared":[136],"performances":[139],"human":[142,167],"designer":[143],"under":[144],"same":[146],"conditions.":[147],"has":[151],"advantage":[152],"finding":[154],"best":[156],"solution":[157],"quickly":[159],"search":[163],"space,":[164],"while":[165],"performs":[169],"better":[170],"case.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":7},{"year":2020,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
