{"id":"https://openalex.org/W2977389550","doi":"https://doi.org/10.1109/lra.2020.2976639","title":"An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research","display_name":"An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research","publication_year":2020,"publication_date":"2020-02-27","ids":{"openalex":"https://openalex.org/W2977389550","doi":"https://doi.org/10.1109/lra.2020.2976639","mag":"2977389550"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2976639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2976639","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1910.00093","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Felix Grimminger","orcid":"https://orcid.org/0000-0003-1744-0435"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Felix Grimminger","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1744-0435","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Avadesh Meduri","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Avadesh Meduri","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Tandon School of Engineering, New York University, Brooklyn, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9889-6543","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Julian Viereck","orcid":"https://orcid.org/0000-0002-9049-5873"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Julian Viereck","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Tandon School of Engineering, New York University, Brooklyn, USA"],"raw_orcid":"https://orcid.org/0000-0002-9049-5873","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Manuel Wuthrich","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Wuthrich","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Maximilien Naveau","orcid":"https://orcid.org/0000-0002-1350-262X"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maximilien Naveau","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0002-1350-262X","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Vincent Berenz","orcid":"https://orcid.org/0000-0003-2226-9660"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Vincent Berenz","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":"https://orcid.org/0000-0003-2226-9660","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Steve Heim","orcid":"https://orcid.org/0000-0002-4916-7464"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Steve Heim","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-4916-7464","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Felix Widmaier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Widmaier","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Thomas Flayols","orcid":null},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Thomas Flayols","raw_affiliation_strings":["Laboratory for Analysis and Architecture of Systems, Centre National pour la Recherche Scientifique, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Analysis and Architecture of Systems, Centre National pour la Recherche Scientifique, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jonathan Fiene","orcid":"https://orcid.org/0000-0001-9772-7297"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonathan Fiene","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0001-9772-7297","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Alexander Badri-Sprowitz","orcid":"https://orcid.org/0000-0002-3864-7307"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Badri-Sprowitz","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, Stuttgart, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3864-7307","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, Stuttgart, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":null,"display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","Tandon School of Engineering, New York University, Brooklyn, USA"],"raw_orcid":"https://orcid.org/0000-0002-6458-9112","affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems, T\u00fcbingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, Brooklyn, USA","institution_ids":["https://openalex.org/I57206974"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":13,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":9.2326,"has_fulltext":false,"cited_by_count":181,"citation_normalized_percentile":{"value":0.98804685,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"3650","last_page":"3657"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9684000015258789,"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":0.9684000015258789,"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":0.02329999953508377,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.0012000000569969416,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/actuator","display_name":"Actuator","score":0.6000000238418579},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.597599983215332},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5738999843597412},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5573999881744385},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5482000112533569},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.5188000202178955},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.48559999465942383},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.45890000462532043},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43630000948905945}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6000000238418579},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.597599983215332},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5738999843597412},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5573999881744385},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5482000112533569},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.5188000202178955},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.48559999465942383},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4787999987602234},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.45890000462532043},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43630000948905945},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.41449999809265137},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3986999988555908},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.3862000107765198},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3783999979496002},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3781999945640564},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.36320000886917114},{"id":"https://openalex.org/C1486788","wikidata":"https://www.wikidata.org/wiki/Q1425051","display_name":"Linear actuator","level":3,"score":0.34630000591278076},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.3458999991416931},{"id":"https://openalex.org/C2778420160","wikidata":"https://www.wikidata.org/wiki/Q6917780","display_name":"Motion controller","level":4,"score":0.33390000462532043},{"id":"https://openalex.org/C136434205","wikidata":"https://www.wikidata.org/wiki/Q3437269","display_name":"Hexapod","level":3,"score":0.3310000002384186},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.314300000667572},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3102000057697296},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.2930000126361847},{"id":"https://openalex.org/C182950735","wikidata":"https://www.wikidata.org/wiki/Q1930978","display_name":"Tensegrity","level":2,"score":0.2824999988079071},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.2750000059604645}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2976639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2976639","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:arXiv.org:1910.00093","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00093","pdf_url":"https://arxiv.org/pdf/1910.00093","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1910.00093","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1910.00093","pdf_url":"https://arxiv.org/pdf/1910.00093","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4745712301","display_name":null,"funder_award_id":"637935","funder_id":"https://openalex.org/F4320334678","funder_display_name":"European Research Council"},{"id":"https://openalex.org/G722267235","display_name":null,"funder_award_id":"CMMI-1825993","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320309290","display_name":"New York University","ror":"https://ror.org/0190ak572"},{"id":"https://openalex.org/F4320334678","display_name":"European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1789658038","https://openalex.org/W1980780059","https://openalex.org/W2008808789","https://openalex.org/W2010951383","https://openalex.org/W2015201597","https://openalex.org/W2035584209","https://openalex.org/W2042408133","https://openalex.org/W2094496385","https://openalex.org/W2145582792","https://openalex.org/W2157826678","https://openalex.org/W2160507822","https://openalex.org/W2171996789","https://openalex.org/W2213414206","https://openalex.org/W2297218263","https://openalex.org/W2399015533","https://openalex.org/W2461181622","https://openalex.org/W2573227850","https://openalex.org/W2762329249","https://openalex.org/W2763052367","https://openalex.org/W2773451156","https://openalex.org/W2792472204","https://openalex.org/W2890824726","https://openalex.org/W2950226259","https://openalex.org/W2951112635","https://openalex.org/W2962943672","https://openalex.org/W2963184939","https://openalex.org/W2967118761","https://openalex.org/W2968213087","https://openalex.org/W4231094725","https://openalex.org/W4250058668"],"related_works":[],"abstract_inverted_index":{"We":[0,37,103],"present":[1,39,150],"a":[2,10,22,28,40,58,88,120,138,151,161],"new":[3],"open-source":[4],"torque-controlled":[5],"legged":[6,47],"robot":[7,56],"system,":[8],"with":[9,49,57,74,164],"low-cost":[11],"and":[12,27,34,70,83,90,97,115,118,172],"low-complexity":[13],"actuator":[14,68],"module":[15],"at":[16,109],"its":[17],"core.":[18],"It":[19],"consists":[20],"of":[21,61,125,137,146,167,170],"high-torque":[23],"brushless":[24],"DC":[25],"motor":[26],"low-gear-ratio":[29],"transmission":[30],"suitable":[31,45],"for":[32,46,94],"impedance":[33,108,165],"force":[35],"control.":[36],"also":[38],"novel":[41,152],"foot":[42,75,111],"contact":[43,76,157],"sensor":[44],"locomotion":[48],"hard":[50],"impacts.":[51],"A":[52],"2.2":[53],"kg":[54],"quadruped":[55],"large":[59],"range":[60],"motion":[62],"is":[63,131],"assembled":[64],"from":[65,160],"eight":[66],"identical":[67],"modules":[69],"four":[71],"lower":[72],"legs":[73],"sensors.":[77],"Leveraging":[78],"standard":[79],"plastic":[80],"3D":[81],"printing":[82],"off-the-shelf":[84],"parts":[85],"results":[86],"in":[87,112],"lightweight":[89],"inexpensive":[91],"robot,":[92],"allowing":[93],"rapid":[95],"distribution":[96],"duplication":[98],"within":[99],"the":[100,106,110,134,144,147,168],"research":[101],"community.":[102],"systematically":[104],"characterize":[105],"achieved":[107],"both":[113],"static":[114],"dynamic":[116],"scenarios,":[117],"measure":[119],"maximum":[121],"dimensionless":[122],"leg":[123,135],"stiffness":[124,136],"10.8":[126],"without":[127],"active":[128],"damping,":[129],"which":[130,154],"comparable":[132],"to":[133,142,184],"running":[139],"human.":[140],"Finally,":[141],"demonstrate":[143],"capabilities":[145],"quadruped,":[148],"we":[149],"controller":[153,176],"combines":[155],"feedforward":[156],"forces":[158],"computed":[159],"kino-dynamic":[162],"optimizer":[163],"control":[166],"center":[169],"mass":[171],"base":[173],"orientation.":[174],"The":[175],"can":[177],"regulate":[178],"complex":[179],"motions":[180],"while":[181],"being":[182],"robust":[183],"environmental":[185],"uncertainty.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":32},{"year":2024,"cited_by_count":41},{"year":2023,"cited_by_count":32},{"year":2022,"cited_by_count":35},{"year":2021,"cited_by_count":33},{"year":2020,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2019-10-10T00:00:00"}