{"id":"https://openalex.org/W2291719124","doi":"https://doi.org/10.1109/robio.2015.7418901","title":"The analysis of new 3 DOF parallel delta type leg for a quadruped robot to maximize actuation torque reduction","display_name":"The analysis of new 3 DOF parallel delta type leg for a quadruped robot to maximize actuation torque reduction","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2291719124","doi":"https://doi.org/10.1109/robio.2015.7418901","mag":"2291719124"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7418901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5107862645","display_name":"Sang Kwon Han","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sang Kwon Han","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079496052","display_name":"Jun Hyeok Kim","orcid":"https://orcid.org/0000-0003-4657-2090"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun Hyeok Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085136215","display_name":"Keun Ha Choi","orcid":"https://orcid.org/0000-0003-3900-9910"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Keun Ha Choi","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100334901","display_name":"Kyung\u2010Soo Kim","orcid":"https://orcid.org/0000-0001-8541-5552"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyung-Soo Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100379510","display_name":"Soohyun Kim","orcid":"https://orcid.org/0000-0003-0628-3737"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soohyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5107862645"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.13698691,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9965000152587891,"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":0.9937999844551086,"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/workspace","display_name":"Workspace","score":0.7703262567520142},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7201105952262878},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6759538650512695},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.6251413822174072},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6002340912818909},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5936509370803833},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5849515795707703},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5347050428390503},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.52849942445755},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4919312000274658},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.467760294675827},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4565020501613617},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39806681871414185},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39691251516342163},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37087225914001465},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2989324927330017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12460973858833313},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11979633569717407},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09494230151176453}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7703262567520142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7201105952262878},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6759538650512695},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.6251413822174072},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6002340912818909},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5936509370803833},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5849515795707703},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5347050428390503},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.52849942445755},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4919312000274658},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.467760294675827},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4565020501613617},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39806681871414185},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39691251516342163},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37087225914001465},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2989324927330017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12460973858833313},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11979633569717407},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09494230151176453},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7418901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7418901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5099999904632568,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1980874681","https://openalex.org/W1992601993","https://openalex.org/W1999053813","https://openalex.org/W2001844647","https://openalex.org/W2005701502","https://openalex.org/W2015249799","https://openalex.org/W2018928443","https://openalex.org/W2022971533","https://openalex.org/W2023851028","https://openalex.org/W2029394778","https://openalex.org/W2029407275","https://openalex.org/W2040915378","https://openalex.org/W2047782333","https://openalex.org/W2115335736","https://openalex.org/W2120260065","https://openalex.org/W2145891670","https://openalex.org/W2147202235","https://openalex.org/W2160502858","https://openalex.org/W2167602138","https://openalex.org/W3150128479","https://openalex.org/W4285719527","https://openalex.org/W6654255930"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2066019639","https://openalex.org/W2357403317","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2635001913","https://openalex.org/W1518655544","https://openalex.org/W2537091977","https://openalex.org/W2158938020"],"abstract_inverted_index":{"The":[0,69],"legged":[1],"type":[2,79,124,137],"robot":[3,111,130],"generally":[4],"requires":[5],"high":[6],"torques":[7],"for":[8,127],"stable":[9],"walking":[10,67,93],"and":[11,32,57,62,86,94,103,114,161],"running.":[12],"However,":[13],"the":[14,59,65,119,133,147,157,163,166],"robot's":[15,45,66],"electric":[16],"motor":[17],"driven":[18],"actuators":[19,56],"usually":[20],"have":[21],"a":[22,40,44,53,96,110,128,151],"low":[23],"payload":[24,54,87],"to":[25,43],"weight":[26],"ratio.":[27],"To":[28],"overcome":[29],"this":[30,141],"problem":[31],"use":[33],"actuators'":[34],"power":[35],"more":[36],"efficiently,":[37],"we":[38],"apply":[39],"parallel":[41,49,77],"mechanism":[42,50],"leg":[46,80],"design.":[47],"A":[48],"can":[51],"distribute":[52],"over":[55],"reduce":[58],"actuation":[60,159],"torque,":[61],"thus":[63],"enhance":[64],"stability.":[68],"process":[70],"of":[71,74,84,100,105,109,118,154],"optimal":[72,148],"design":[73],"3":[75,120,134],"DOF":[76,121,135],"delta":[78],"is":[81,144],"1)":[82],"definition":[83],"workspace":[85],"based":[88],"on":[89],"tasks,":[90],"such":[91],"as":[92],"climbing":[95],"stair,":[97],"2)":[98],"derivation":[99],"inverse":[101],"kinematics":[102],"equation":[104],"motion,":[106],"3)":[107],"optimization":[108],"leg's":[112],"mechanism,":[113],"finally":[115],"4)":[116],"feasibility":[117],"Parallel":[122],"Delta":[123],"Leg":[125,138],"(3PDL)":[126],"quadruped":[129],"compared":[131],"with":[132],"Serial":[136],"(3SL).":[139],"In":[140],"paper,":[142],"it":[143],"shown":[145],"that":[146],"3PDL":[149],"has":[150],"strong":[152],"tendency":[153],"greatly":[155],"reducing":[156],"maximum":[158],"torque":[160],"enhancing":[162],"manipulability":[164],"in":[165],"certain":[167],"workspace.":[168]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
