{"id":"https://openalex.org/W2759619851","doi":"https://doi.org/10.1109/mmar.2017.8046909","title":"Exploiting the natural dynamics of compliant joint robots for cyclic motions","display_name":"Exploiting the natural dynamics of compliant joint robots for cyclic motions","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2759619851","doi":"https://doi.org/10.1109/mmar.2017.8046909","mag":"2759619851"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2017.8046909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-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/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"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":true,"raw_author_name":"Navvab Kashiri","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078798098","display_name":"Emmanouil Spyrakos-Papastavridis","orcid":"https://orcid.org/0000-0001-7448-8529"},"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":"Emmanouil Spyrakos-Papastavridis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, 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":["Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Technologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070252862"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.2549,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.55361156,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"676","last_page":"681"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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":0.996999979019165,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.633331835269928},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6166529059410095},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6029146313667297},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5756576657295227},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.5710245966911316},{"id":"https://openalex.org/keywords/modal","display_name":"Modal","score":0.486868292093277},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4171625077724457},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4149620532989502},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4136210083961487},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.2540874481201172},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2179693877696991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.205367773771286},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19050085544586182},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.14826729893684387},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14352017641067505},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.08500438928604126}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.633331835269928},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6166529059410095},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6029146313667297},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5756576657295227},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.5710245966911316},{"id":"https://openalex.org/C71139939","wikidata":"https://www.wikidata.org/wiki/Q910194","display_name":"Modal","level":2,"score":0.486868292093277},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4171625077724457},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4149620532989502},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4136210083961487},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.2540874481201172},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2179693877696991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.205367773771286},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19050085544586182},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.14826729893684387},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14352017641067505},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.08500438928604126},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C188027245","wikidata":"https://www.wikidata.org/wiki/Q750446","display_name":"Polymer chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2017.8046909","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2017.8046909","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8999999761581421,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W189803804","https://openalex.org/W1504362584","https://openalex.org/W1532219997","https://openalex.org/W1549490310","https://openalex.org/W1970107898","https://openalex.org/W1970628739","https://openalex.org/W1973785859","https://openalex.org/W1974751498","https://openalex.org/W1980332428","https://openalex.org/W1982961388","https://openalex.org/W2014439525","https://openalex.org/W2027080092","https://openalex.org/W2074686910","https://openalex.org/W2094068010","https://openalex.org/W2096003909","https://openalex.org/W2106170519","https://openalex.org/W2111898076","https://openalex.org/W2116464006","https://openalex.org/W2131404784","https://openalex.org/W2135849582","https://openalex.org/W2139647291","https://openalex.org/W2142512174","https://openalex.org/W2169452544","https://openalex.org/W2293307356","https://openalex.org/W2730083658","https://openalex.org/W2739110831","https://openalex.org/W6987765373"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2099777870","https://openalex.org/W2329266651","https://openalex.org/W3103825105","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W4321844193"],"abstract_inverted_index":{"Due":[0],"to":[1,50,69,98,154],"the":[2,10,21,27,40,60,76,84,99,105,110,128,143,156,165],"significant":[3],"flexibility":[4],"arising":[5],"as":[6,96,162,164],"a":[7,43,56,91],"result":[8,82],"of":[9,12,23,29,45,63,75,86,94,142,158,167],"incorporation":[11],"passive":[13],"compliance":[14],"into":[15],"traditional":[16],"rigid":[17],"actuators,":[18],"that":[19,89,104],"enables":[20],"excitation":[22],"sizeable":[24],"resonance":[25],"movements,":[26],"generation":[28],"highly":[30],"dynamic":[31],"motions":[32],"using":[33],"such":[34,119],"systems":[35],"has":[36],"been":[37,125],"studied":[38,126],"in":[39,67,83,127,150,152],"literature;":[41],"however,":[42],"majority":[44],"these":[46],"methods":[47],"are":[48,130],"limited":[49],"single":[51],"actuators.":[52],"This":[53],"work":[54],"presents":[55],"novel":[57],"scheme":[58],"employing":[59],"natural":[61,78,145],"dynamics":[62,79],"compliant":[64],"joint":[65,169],"robots":[66],"order":[68,153],"perform":[70],"cyclic":[71,120],"motions.":[72],"The":[73,114,133],"use":[74],"system's":[77,144],"can":[80],"therefore":[81],"execution":[85],"robot":[87],"movements":[88],"consume":[90],"slight":[92],"amount":[93],"energy":[95,100,115],"compared":[97],"they":[101],"generate,":[102],"provided":[103],"motion":[106],"trajectory":[107],"is":[108,137,147],"on":[109,139],"limit":[111],"cycle":[112],"manifold.":[113],"efficiency":[116],"advantages":[117],"during":[118],"motions,":[121,161],"which":[122,136],"have":[123],"rarely":[124],"literature,":[129],"also":[131],"discussed.":[132],"proposed":[134],"scheme,":[135],"based":[138],"modal":[140,160],"decoupling":[141],"dynamics,":[146],"finally":[148],"evaluated":[149],"simulation":[151],"investigate":[155],"energy-efficiency":[157],"different":[159],"well":[163],"effect":[166],"various":[168],"stiffness":[170],"levels.":[171]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}