{"id":"https://openalex.org/W4206259597","doi":"https://doi.org/10.1109/lra.2021.3139379","title":"A Reconfigurable Leg for Walking Robots","display_name":"A Reconfigurable Leg for Walking Robots","publication_year":2021,"publication_date":"2021-12-31","ids":{"openalex":"https://openalex.org/W4206259597","doi":"https://doi.org/10.1109/lra.2021.3139379"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3139379","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139379","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":"http://hdl.handle.net/20.500.11850/522681","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079793140","display_name":"Nan Fang","orcid":"https://orcid.org/0000-0003-4119-0886"},"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":"Fang Nan","raw_affiliation_strings":["Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079328169","display_name":"Hendrik Kolvenbach","orcid":"https://orcid.org/0000-0003-1229-7537"},"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":"Hendrik Kolvenbach","raw_affiliation_strings":["Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1229-7537","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"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":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab (RSL), ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.019,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.73917995,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"7","issue":"2","first_page":"1308","last_page":"1315"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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":0.9966999888420105,"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/testbed","display_name":"Testbed","score":0.7647247314453125},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6156237125396729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6050800681114197},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5996845364570618},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5682953000068665},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5512304902076721},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5294002294540405},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.48811110854148865},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.4706510603427887},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.4543451964855194},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.44117826223373413},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.32926639914512634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3247331380844116},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24867475032806396},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2103862762451172},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11612185835838318},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1000981330871582}],"concepts":[{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.7647247314453125},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6156237125396729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6050800681114197},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5996845364570618},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5682953000068665},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5512304902076721},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5294002294540405},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.48811110854148865},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.4706510603427887},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.4543451964855194},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.44117826223373413},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32926639914512634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3247331380844116},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24867475032806396},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2103862762451172},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11612185835838318},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1000981330871582},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2021.3139379","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3139379","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.research-collection.ethz.ch:20.500.11850/522681","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/522681","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 7 (2)","raw_type":"info:eu-repo/semantics/acceptedVersion"},{"id":"doi:10.3929/ethz-b-000522681","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000522681","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","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":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/522681","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/522681","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 7 (2)","raw_type":"info:eu-repo/semantics/acceptedVersion"},"sustainable_development_goals":[{"score":0.5099999904632568,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320326765","display_name":"National Centre of Competence in Research Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1483806214","https://openalex.org/W2028885917","https://openalex.org/W2073737169","https://openalex.org/W2080592145","https://openalex.org/W2086587468","https://openalex.org/W2094496385","https://openalex.org/W2112474089","https://openalex.org/W2345474674","https://openalex.org/W2377098276","https://openalex.org/W2619240081","https://openalex.org/W2764255492","https://openalex.org/W2772054799","https://openalex.org/W2892623727","https://openalex.org/W2925163165","https://openalex.org/W2951112635","https://openalex.org/W2967118761","https://openalex.org/W2968213087","https://openalex.org/W2971099763","https://openalex.org/W2977389550","https://openalex.org/W2996468894","https://openalex.org/W3007035358","https://openalex.org/W3093326211","https://openalex.org/W3171346368"],"related_works":["https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2883256816","https://openalex.org/W2152313554","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2065450024","https://openalex.org/W2207517346"],"abstract_inverted_index":{"We":[0,51],"present":[1],"the":[2,26,30,46,53,56,65,80,92,99,115,121,128],"design":[3],"of":[4,29,55,82],"a":[5,13,22,60,132],"robotic":[6],"leg":[7,47,58],"that":[8,24,79],"can":[9,97],"seamlessly":[10,126],"switch":[11],"between":[12],"spring-suspended,":[14],"and":[15,42,63,71,84,105],"unsuspended":[16,116],"configuration.":[17,94],"Switching":[18],"is":[19,35,89],"realized":[20],"by":[21],"mechanism":[23,34],"exploits":[25],"alternative":[27],"configuration":[28,117],"two-link":[31],"leg.":[32],"The":[33,76],"lightweight,":[36],"does":[37],"not":[38],"require":[39],"additional":[40],"actuation,":[41],"only":[43],"relies":[44],"on":[45,59],"movement":[48],"for":[49,125,131],"engagement.":[50],"validated":[52],"performance":[54,101],"prototype":[57],"single-leg":[61],"testbed":[62],"investigated":[64],"power":[66],"consumption":[67],"during":[68],"standing,":[69],"crouching,":[70],"hopping":[72,83],"in":[73,102],"both":[74],"configurations.":[75],"experiments":[77],"showed":[78],"efficiency":[81],"cyclic":[85],"base":[86,112],"height":[87],"control":[88,104],"better":[90],"with":[91],"spring-suspended":[93],"However,":[95],"it":[96],"undermine":[98],"leg\u2019s":[100],"position":[103],"requires":[106],"higher":[107],"torque":[108],"to":[109],"maintain":[110],"low":[111],"height,":[113],"where":[114],"has":[118],"advantages.":[119],"Overall,":[120],"switching":[122],"ability":[123],"allows":[124],"selecting":[127],"optimal":[129],"mode":[130],"specific":[133],"locomotion":[134],"task.":[135]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}