{"id":"https://openalex.org/W2097059544","doi":"https://doi.org/10.1109/robio.2011.6181726","title":"Additional DOFs and sensors for bio-inspired locomotion: Towards active spine, ankle joints, and feet for a quadruped robot","display_name":"Additional DOFs and sensors for bio-inspired locomotion: Towards active spine, ankle joints, and feet for a quadruped robot","publication_year":2011,"publication_date":"2011-12-01","ids":{"openalex":"https://openalex.org/W2097059544","doi":"https://doi.org/10.1109/robio.2011.6181726","mag":"2097059544"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2011.6181726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","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/A5018388215","display_name":"Daniel Kuehn","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Daniel Kuehn","raw_affiliation_strings":["German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081687578","display_name":"Felix Grimminger","orcid":"https://orcid.org/0000-0003-1744-0435"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Grimminger","raw_affiliation_strings":["German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016870253","display_name":"Frank Beinersdorf","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Beinersdorf","raw_affiliation_strings":["German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058456868","display_name":"Felix Bernhard","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Bernhard","raw_affiliation_strings":["FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084306717","display_name":"Armin Burchardt","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Armin Burchardt","raw_affiliation_strings":["FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056437605","display_name":"Moritz Schilling","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Schilling","raw_affiliation_strings":["FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015852112","display_name":"Marc Simnofske","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Marc Simnofske","raw_affiliation_strings":["German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041615147","display_name":"Tobias Stark","orcid":null},"institutions":[{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Tobias Stark","raw_affiliation_strings":["FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031310706","display_name":"Martin Zenzes","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Martin Zenzes","raw_affiliation_strings":["German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]},{"id":"https://openalex.org/I180437899","display_name":"University of Bremen","ror":"https://ror.org/04ers2y35","country_code":"DE","type":"education","lineage":["https://openalex.org/I180437899"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany"],"affiliations":[{"raw_affiliation_string":"FB3, Robotics Laboratory, University of Brethemen, Bremen, Germany","institution_ids":["https://openalex.org/I180437899"]},{"raw_affiliation_string":"German Research Center for Artificial Intelligence Robotics Innovation Center (DFKI RIC), Bremen, Germany","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":10,"corresponding_author_ids":["https://openalex.org/A5018388215"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":1.6788,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.83716959,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2780","last_page":"2786"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9921000003814697,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9830999970436096,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7522902488708496},{"id":"https://openalex.org/keywords/active-perception","display_name":"Active perception","score":0.6553726196289062},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6154955625534058},{"id":"https://openalex.org/keywords/variety","display_name":"Variety (cybernetics)","score":0.41703033447265625},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4091998338699341},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3940467834472656},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36484962701797485},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3297255039215088},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28369611501693726}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7522902488708496},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.6553726196289062},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6154955625534058},{"id":"https://openalex.org/C136197465","wikidata":"https://www.wikidata.org/wiki/Q1729295","display_name":"Variety (cybernetics)","level":2,"score":0.41703033447265625},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4091998338699341},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3940467834472656},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36484962701797485},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3297255039215088},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28369611501693726}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2011.6181726","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2011.6181726","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1966218838","https://openalex.org/W1976520665","https://openalex.org/W2000358470","https://openalex.org/W2024828917","https://openalex.org/W2025299767","https://openalex.org/W2040175164","https://openalex.org/W2062896400","https://openalex.org/W2098436509","https://openalex.org/W2102962219","https://openalex.org/W2103701180","https://openalex.org/W2114773052","https://openalex.org/W2115569300","https://openalex.org/W2127106540","https://openalex.org/W2134849319","https://openalex.org/W2157056019","https://openalex.org/W2161427949","https://openalex.org/W2184629629","https://openalex.org/W2313999234","https://openalex.org/W6675228636","https://openalex.org/W6686442062"],"related_works":["https://openalex.org/W2032233321","https://openalex.org/W3121970507","https://openalex.org/W2110028391","https://openalex.org/W54497855","https://openalex.org/W217960748","https://openalex.org/W3125814499","https://openalex.org/W2090827041","https://openalex.org/W2094012830","https://openalex.org/W187246281","https://openalex.org/W2079194830"],"abstract_inverted_index":{"In":[0,47],"this":[1,51,153],"paper,":[2],"we":[3],"present":[4],"the":[5,16,32,41,57,60,78,92,105,125,156,160,169],"design":[6],"of":[7,35,44,56,71,83,104,113,121,171],"biologically":[8],"inspired":[9],"structural":[10],"components":[11],"which":[12,73,116,163],"should":[13],"effectively":[14],"improve":[15],"locomotion":[17,81],"and":[18,59,98,146,159],"mobility":[19],"characteristics":[20],"when":[21],"applied":[22],"to":[23,30,49,140,167],"a":[24,36,69,110,128],"robotic":[25],"system.":[26,100],"The":[27,66,150],"aim":[28],"is":[29,64,107,132],"increase":[31],"overall":[33],"performance":[34],"complex":[37],"walking":[38],"robot":[39],"by":[40,174],"purposeful":[42],"use":[43,94],"intelligent":[45],"structures.":[46],"order":[48],"achieve":[50],"goal,":[52],"an":[53],"improved":[54],"perception":[55,103],"environment":[58,106],"robot's":[61],"own":[62],"condition":[63],"needed.":[65],"structures":[67],"contain":[68],"variety":[70],"functions":[72],"not":[74],"only":[75],"can":[76],"extend":[77],"already":[79],"existing":[80],"behaviors":[82],"robots,":[84],"but":[85],"also":[86],"permit":[87],"further":[88],"relevant":[89],"applications":[90],"like":[91],"contemporaneous":[93],"as":[95],"supporting":[96],"structure":[97],"sensor":[99,130,148],"A":[101],"precise":[102],"realizable":[108],"with":[109],"high":[111],"number":[112],"various":[114],"sensors":[115],"results":[117],"in":[118,152],"large":[119],"amount":[120],"data.":[122],"To":[123],"obtain":[124],"necessary":[126],"information,":[127],"hierarchical":[129],"concept":[131],"used.":[133],"Rigid":[134],"or":[135],"connecting":[136],"elements":[137],"are":[138],"extended":[139],"single":[141,157],"subsystems,":[142],"including":[143],"locally":[144],"preprocessed":[145],"evaluated":[147],"information.":[149],"description":[151],"paper":[154],"includes":[155],"subsystems":[158,173],"planned":[161],"prototype":[162],"will":[164],"be":[165],"used":[166],"demonstrate":[168],"possibilities":[170],"these":[172],"acting":[175],"collaboratively.":[176]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}