{"id":"https://openalex.org/W2963436368","doi":"https://doi.org/10.1109/lra.2019.2929984","title":"Computational Design of Statically Balanced Planar Spring Mechanisms","display_name":"Computational Design of Statically Balanced Planar Spring Mechanisms","publication_year":2019,"publication_date":"2019-07-22","ids":{"openalex":"https://openalex.org/W2963436368","doi":"https://doi.org/10.1109/lra.2019.2929984","mag":"2963436368"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2929984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929984","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101586895","display_name":"Takuto Takahashi","orcid":"https://orcid.org/0000-0002-8519-3811"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takuto Takahashi","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8519-3811","affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064593727","display_name":"Jonas Zehnder","orcid":"https://orcid.org/0000-0002-7214-2214"},"institutions":[{"id":"https://openalex.org/I70931966","display_name":"Universit\u00e9 de Montr\u00e9al","ror":"https://ror.org/0161xgx34","country_code":"CA","type":"education","lineage":["https://openalex.org/I70931966"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Jonas Zehnder","raw_affiliation_strings":["Universit\u00e9 de Montr\u00e9al, Montreal, QC, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7214-2214","affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Montr\u00e9al, Montreal, QC, Canada","institution_ids":["https://openalex.org/I70931966"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005141184","display_name":"Hiroshi G. Okuno","orcid":"https://orcid.org/0000-0002-8704-4318"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hiroshi G. Okuno","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-8704-4318","affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080654277","display_name":"Shigeki Sugano","orcid":"https://orcid.org/0000-0002-9331-2446"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigeki Sugano","raw_affiliation_strings":["Waseda University, Tokyo, Japan"],"raw_orcid":"https://orcid.org/0000-0002-9331-2446","affiliations":[{"raw_affiliation_string":"Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055713873","display_name":"Stelian Coros","orcid":"https://orcid.org/0000-0001-6604-4784"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Stelian Coros","raw_affiliation_strings":["ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-6604-4784","affiliations":[{"raw_affiliation_string":"ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069328126","display_name":"Bernhard Thomaszewski","orcid":"https://orcid.org/0000-0001-8086-7664"},"institutions":[{"id":"https://openalex.org/I70931966","display_name":"Universit\u00e9 de Montr\u00e9al","ror":"https://ror.org/0161xgx34","country_code":"CA","type":"education","lineage":["https://openalex.org/I70931966"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Bernhard Thomaszewski","raw_affiliation_strings":["Universit\u00e9 de Montr\u00e9al, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universit\u00e9 de Montr\u00e9al, Montreal, QC, Canada","institution_ids":["https://openalex.org/I70931966"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6423,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.84034653,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"4","issue":"4","first_page":"4438","last_page":"4444"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9894000291824341,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T12290","display_name":"Human Motion and Animation","score":0.9833999872207642,"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/spring","display_name":"Spring (device)","score":0.6994040012359619},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6951161623001099},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5841071605682373},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5738610029220581},{"id":"https://openalex.org/keywords/topology-optimization","display_name":"Topology optimization","score":0.48742011189460754},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.48733577132225037},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.4850236773490906},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.4723663926124573},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.41728469729423523},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3874261975288391},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3259870409965515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.157168447971344},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.14475655555725098},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.13712197542190552},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1297048032283783},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11181074380874634},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1005125641822815},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.08457693457603455}],"concepts":[{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.6994040012359619},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6951161623001099},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5841071605682373},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5738610029220581},{"id":"https://openalex.org/C189216461","wikidata":"https://www.wikidata.org/wiki/Q2443456","display_name":"Topology optimization","level":3,"score":0.48742011189460754},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.48733577132225037},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.4850236773490906},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.4723663926124573},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.41728469729423523},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3874261975288391},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3259870409965515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.157168447971344},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.14475655555725098},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.13712197542190552},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1297048032283783},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11181074380874634},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1005125641822815},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.08457693457603455},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2019.2929984","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2929984","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7799999713897705,"display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G1525423297","display_name":"Systematization of Drone Audition Capable of Listening to Sounds in Real World Environments","funder_award_id":"19H00750","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320322638","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W93939721","https://openalex.org/W1195758143","https://openalex.org/W1500164815","https://openalex.org/W1975811165","https://openalex.org/W1975899417","https://openalex.org/W1988211739","https://openalex.org/W2000827963","https://openalex.org/W2014451824","https://openalex.org/W2025338486","https://openalex.org/W2031533893","https://openalex.org/W2043960371","https://openalex.org/W2053846072","https://openalex.org/W2061702179","https://openalex.org/W2072730808","https://openalex.org/W2076632550","https://openalex.org/W2121378366","https://openalex.org/W2143802278","https://openalex.org/W2261110142","https://openalex.org/W2463012126","https://openalex.org/W2553243248","https://openalex.org/W2560731665","https://openalex.org/W2561778485","https://openalex.org/W2736676485","https://openalex.org/W2736736250","https://openalex.org/W2775000863","https://openalex.org/W2807229064","https://openalex.org/W4239569116","https://openalex.org/W7061204298"],"related_works":["https://openalex.org/W2046491619","https://openalex.org/W2808213426","https://openalex.org/W2016759238","https://openalex.org/W2808192315","https://openalex.org/W2883804989","https://openalex.org/W2389142552","https://openalex.org/W2808279233","https://openalex.org/W2239929624","https://openalex.org/W1974803732","https://openalex.org/W1978394698"],"abstract_inverted_index":{"Statically":[0],"balanced":[1,50],"spring":[2,80],"mechanisms":[3,51],"are":[4],"used":[5],"in":[6,52],"many":[7],"applications":[8],"that":[9,88],"support":[10],"our":[11,101],"daily":[12],"lives.":[13],"However,":[14],"creating":[15],"new":[16],"designs":[17],"is":[18],"a":[19,43,84,105],"challenging":[20],"problem":[21],"since":[22],"the":[23,29,69,93],"designer":[24],"has":[25],"to":[26,91],"simultaneously":[27],"determine":[28],"right":[30],"number":[31],"of":[32,71,96,107],"springs,":[33],"their":[34],"connectivity,":[35],"attachment":[36],"points,":[37],"and":[38,83,110],"other":[39],"parameters.":[40],"We":[41,99],"propose":[42],"novel":[44],"optimization-driven":[45],"approach":[46],"for":[47,64,79],"designing":[48],"statically":[49],"an":[53,61,75],"interactive,":[54],"semi-automatic":[55],"way.":[56],"In":[57],"particular,":[58],"we":[59],"describe":[60],"efficient":[62],"method":[63,78],"design":[65,97,102],"optimization":[66],"based":[67],"on":[68,104],"principle":[70],"constant":[72],"potential":[73],"energy,":[74],"automated":[76],"sparsification":[77],"topology":[81],"design,":[82],"null-space":[85],"exploration":[86],"scheme":[87],"enables":[89],"user":[90],"navigate":[92],"local":[94],"space":[95],"alternatives.":[98],"demonstrate":[100],"system":[103],"set":[106],"simulation":[108],"examples":[109],"several":[111],"manufactured":[112],"prototypes.":[113]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
