{"id":"https://openalex.org/W4401747875","doi":"https://doi.org/10.1109/lra.2024.3448131","title":"A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots","display_name":"A Novel Passive Parallel Elastic Actuation Principle for Load Compensation in Legged Robots","publication_year":2024,"publication_date":"2024-08-22","ids":{"openalex":"https://openalex.org/W4401747875","doi":"https://doi.org/10.1109/lra.2024.3448131"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3448131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3448131","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":true,"oa_status":"green","oa_url":"https://doi.org/10.1109/LRA.2024.3448131","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5015357957","display_name":"Yifang Zhang","orcid":"https://orcid.org/0000-0003-4539-8692"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yifang Zhang","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4539-8692","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072206949","display_name":"Jingcheng Jiang","orcid":"https://orcid.org/0009-0005-3801-5333"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Jingcheng Jiang","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0009-0005-3801-5333","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy"],"raw_orcid":"https://orcid.org/0000-0002-9877-8237","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics (HHCM) Research Line of Istituto Italiano Di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.3032,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.52013758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"9","issue":"10","first_page":"8881","last_page":"8888"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9998000264167786,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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/compensation","display_name":"Compensation (psychology)","score":0.6696262955665588},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6111209392547607},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.4471622705459595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43832919001579285},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39998650550842285},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34230032563209534},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.32004547119140625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3052048683166504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14912265539169312},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1347648799419403},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.12475496530532837}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6696262955665588},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6111209392547607},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.4471622705459595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43832919001579285},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39998650550842285},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34230032563209534},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.32004547119140625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3052048683166504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14912265539169312},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1347648799419403},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.12475496530532837},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3448131","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3448131","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:zenodo.org:14800392","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2024.3448131","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters (RA-L), 9(10), 8881-8888, (2024-08-22)","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:zenodo.org:14800392","is_oa":true,"landing_page_url":"https://doi.org/10.1109/LRA.2024.3448131","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters (RA-L), 9(10), 8881-8888, (2024-08-22)","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1527751191","https://openalex.org/W2048383675","https://openalex.org/W2073737169","https://openalex.org/W2094496385","https://openalex.org/W2122781667","https://openalex.org/W2159220301","https://openalex.org/W2291824066","https://openalex.org/W2573227850","https://openalex.org/W2842089854","https://openalex.org/W2892623727","https://openalex.org/W2912556639","https://openalex.org/W2925163165","https://openalex.org/W2968213087","https://openalex.org/W3023846712","https://openalex.org/W3142410314","https://openalex.org/W3207699109","https://openalex.org/W3207966577","https://openalex.org/W4206259597","https://openalex.org/W4313563004"],"related_works":["https://openalex.org/W2490690736","https://openalex.org/W2379084545","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2007221537","https://openalex.org/W2169474978","https://openalex.org/W4234906596","https://openalex.org/W4229591372","https://openalex.org/W2071544734"],"abstract_inverted_index":{"This":[0],"work":[1,171],"introduces":[2],"a":[3,24,34,40,72,100,173],"novel":[4],"parallel":[5],"elastic":[6],"actuation":[7],"principle":[8,115],"designed":[9],"to":[10,38,57,70,77,155,176],"provide":[11],"torque":[12,43,74,122,165],"compensation":[13,44,73,84,121,166,178],"for":[14,46,128],"legged":[15,180],"robots.":[16,181],"Unlike":[17],"existing":[18],"solutions,":[19],"the":[20,47,59,62,67,78,96,113,119,129,141,147,161],"proposed":[21,82,114],"concept":[22,85],"leverages":[23],"nitrogen":[25],"N<inline-formula":[26],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[27,137],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[28,138],"notation=\"LaTeX\">$_{2}$</tex-math></inline-formula>":[29],"gas":[30,63],"spring":[31,64],"combined":[32],"with":[33],"cam":[35,68],"roller":[36],"module":[37,69],"generate":[39,118],"highly":[41,158],"customizable":[42],"profile":[45,75,123],"target":[48],"leg":[49],"joint.":[50],"An":[51],"optimization-based":[52],"design":[53],"approach":[54],"is":[55,152],"employed":[56],"derive":[58],"specifications":[60],"of":[61,99,140,163],"and":[65,86,92,124,157],"optimize":[66],"produce":[71],"closest":[76],"desired":[79],"one.":[80],"The":[81,108,149,170],"load":[83,177],"related":[87],"mechanism":[88],"are":[89],"experimentally":[90],"evaluated":[91],"practically":[93],"integrated":[94],"into":[95],"knee":[97],"joint":[98],"two-DoF":[101],"monopedal":[102,131],"robot":[103,132],"actuated":[104],"by":[105,134,146],"cycloid":[106],"actuators.":[107],"experimental":[109],"results":[110],"demonstrate":[111],"that":[112],"can":[116],"effectively":[117],"required":[120],"achieve":[125],"significant":[126],"benefits":[127],"prototyped":[130],"system":[133,151],"reducing":[135],"71.92<inline-formula":[136],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[139],"additional":[142],"energy":[143],"consumption":[144],"caused":[145],"payload.":[148],"entire":[150],"compact,":[153],"easy":[154],"integrate,":[156],"customizable,":[159],"enabling":[160],"creation":[162],"nonlinear":[164],"profiles":[167],"as":[168],"needed.":[169],"provides":[172],"promising":[174],"solution":[175],"in":[179]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-12-26T23:08:49.675405","created_date":"2025-10-10T00:00:00"}
