{"id":"https://openalex.org/W3140541177","doi":"https://doi.org/10.1109/lra.2021.3068698","title":"Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach","display_name":"Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach","publication_year":2021,"publication_date":"2021-03-24","ids":{"openalex":"https://openalex.org/W3140541177","doi":"https://doi.org/10.1109/lra.2021.3068698","mag":"3140541177"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3068698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068698","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/A5086796864","display_name":"Nico Mansfeld","orcid":"https://orcid.org/0000-0002-2978-5628"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Nico Mansfeld","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014098286","display_name":"Manuel Keppler","orcid":"https://orcid.org/0000-0002-1532-963X"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Manuel Keppler","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany"],"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024171209","display_name":"Sami Haddadin","orcid":"https://orcid.org/0000-0001-7696-4955"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sami Haddadin","raw_affiliation_strings":["Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM), Munich, Germany"],"affiliations":[{"raw_affiliation_string":"Chair of Robotics Science and Systems Intelligence, Munich School of Robotics and Machine Intelligence, Technical University of Munich (TUM), Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5086796864"],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.6768,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.64549798,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"6","issue":"3","first_page":"4600","last_page":"4607"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.996999979019165,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9969000220298767,"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":0.8188220262527466},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6532653570175171},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6103125810623169},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5828660130500793},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5417277812957764},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5165402293205261},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4642452001571655},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.44789865612983704},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.4356911778450012},{"id":"https://openalex.org/keywords/explosive-material","display_name":"Explosive material","score":0.4285288155078888},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.415226012468338},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.372974157333374},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2723478376865387},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2628706693649292},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2365785837173462},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20578208565711975},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.17586290836334229},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15079599618911743},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11348292231559753}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8188220262527466},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6532653570175171},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6103125810623169},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5828660130500793},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5417277812957764},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5165402293205261},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4642452001571655},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.44789865612983704},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.4356911778450012},{"id":"https://openalex.org/C154238967","wikidata":"https://www.wikidata.org/wiki/Q12870","display_name":"Explosive material","level":2,"score":0.4285288155078888},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.415226012468338},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.372974157333374},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2723478376865387},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2628706693649292},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2365785837173462},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20578208565711975},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.17586290836334229},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15079599618911743},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11348292231559753},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3068698","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3068698","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:elib.dlr.de:147146","is_oa":false,"landing_page_url":"https://elib.dlr.de/147146/","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Zeitschriftenbeitrag"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1624175","is_oa":false,"landing_page_url":"https://mediatum.ub.tum.de/1624175","pdf_url":null,"source":{"id":"https://openalex.org/S4377196330","display_name":"mediaTUM  (Technical University of Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1575532379","https://openalex.org/W1979577865","https://openalex.org/W1986090102","https://openalex.org/W1994680409","https://openalex.org/W1995090200","https://openalex.org/W1998113982","https://openalex.org/W2001112604","https://openalex.org/W2011833550","https://openalex.org/W2022965255","https://openalex.org/W2025938205","https://openalex.org/W2049410986","https://openalex.org/W2066379939","https://openalex.org/W2067103553","https://openalex.org/W2073136132","https://openalex.org/W2074759217","https://openalex.org/W2075762811","https://openalex.org/W2116139612","https://openalex.org/W2128137193","https://openalex.org/W2130527887","https://openalex.org/W2131404784","https://openalex.org/W2139086916","https://openalex.org/W2152916401","https://openalex.org/W2167848112","https://openalex.org/W2793316857","https://openalex.org/W6649237359"],"related_works":["https://openalex.org/W2287334727","https://openalex.org/W1488588773","https://openalex.org/W2048510477","https://openalex.org/W2762476777","https://openalex.org/W2328795663","https://openalex.org/W2600150541","https://openalex.org/W2347510524","https://openalex.org/W2392989627","https://openalex.org/W1977665047","https://openalex.org/W3114149462"],"abstract_inverted_index":{"Like":[0],"humans":[1],"or":[2,13],"animals,":[3],"robots":[4,122],"with":[5,88,160],"compliant":[6],"joints":[7],"are":[8],"capable":[9],"of":[10,20,39,111,118,157,189,197,202],"performing":[11],"explosive":[12],"cyclic":[14],"motions":[15],"by":[16],"making":[17],"systematic":[18],"use":[19],"energy":[21],"storage":[22],"and":[23,25,65,96,144,183,192],"release,":[24],"it":[26],"has":[27],"been":[28],"shown":[29],"that":[30,123],"they":[31],"can":[32],"outperform":[33],"their":[34],"rigid":[35,43,130,195],"counterparts":[36],"in":[37,200,208],"terms":[38,201],"peak":[40],"velocity.":[41],"For":[42,71],"joint":[44,73,121,131],"robots,":[45,74],"there":[46],"exist":[47],"well-established,":[48],"computationally":[49,97],"inexpensive":[50],"tools":[51],"to":[52,80,108,128,140,181],"compute":[53],"the":[54,82,89,112,129,142,155,171,179,186,203],"maximum":[55,83,113],"achievable":[56,114],"Cartesian":[57,115],"endpoint":[58,116],"velocity,":[59],"which":[60,92,166],"is":[61,77,93],"an":[62,136],"important":[63],"performance":[64],"safety":[66,187],"characteristic":[67],"for":[68,99,147],"robot":[69,132,199],"designs.":[70],"elastic":[72,120,172],"optimal":[75,137],"control":[76,138],"usually":[78],"employed":[79],"determine":[81],"possible":[84],"link":[85],"velocity":[86],"together":[87],"associated":[90],"trajectory,":[91],"time":[94],"consuming":[95],"costly":[98],"most":[100],"systems.":[101],"In":[102],"this":[103,198],"letter,":[104],"we":[105,153,177],"propose":[106],"methods":[107,143,180],"obtain":[109],"estimates":[110],"velocities":[117],"gravity-free":[119],"have":[124],"computational":[125],"requirements":[126],"close":[127],"case.":[133],"We":[134],"formulate":[135],"problem":[139],"verify":[141],"provide":[145],"results":[146,156],"a":[148,193],"planar":[149],"3R":[150],"robot.":[151],"Furthermore,":[152],"compare":[154,185],"our":[158,209],"approach":[159],"those":[161],"from":[162],"real-world":[163],"throwing":[164],"experiments":[165],"were":[167],"previously":[168],"conducted":[169],"on":[170],"DLR":[173,190],"David":[174,191],"system.":[175],"Finally,":[176],"apply":[178],"derive":[182],"quantitatively":[184],"properties":[188],"hypothetically":[194],"version":[196],"Safety":[204],"Map":[205],"framework":[206],"proposed":[207],"previous":[210],"work.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}