{"id":"https://openalex.org/W2593977843","doi":"https://doi.org/10.1109/robio.2016.7866456","title":"Influence of leg stiffness on payload capacity at high speed","display_name":"Influence of leg stiffness on payload capacity at high speed","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2593977843","doi":"https://doi.org/10.1109/robio.2016.7866456","mag":"2593977843"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2016.7866456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5020016643","display_name":"Runxiao Wang","orcid":"https://orcid.org/0000-0002-6099-9333"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Runxiao Wang","raw_affiliation_strings":["Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100781923","display_name":"Wentao Zhao","orcid":"https://orcid.org/0000-0001-7978-6752"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Zhao","raw_affiliation_strings":["Northwestern Polytechnical University, Xi'an, China","School of Mechanical Engineering, Shaanxi Province Digital Special Manufacturing Equipment Engineering Research Center"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, China","institution_ids":["https://openalex.org/I17145004"]},{"raw_affiliation_string":"School of Mechanical Engineering, Shaanxi Province Digital Special Manufacturing Equipment Engineering Research Center","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100745581","display_name":"Shujun Li","orcid":"https://orcid.org/0000-0002-3836-5350"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shujun Li","raw_affiliation_strings":["Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029299093","display_name":"Shunqi Zhang","orcid":"https://orcid.org/0000-0003-0633-0564"},"institutions":[{"id":"https://openalex.org/I17145004","display_name":"Northwestern Polytechnical University","ror":"https://ror.org/01y0j0j86","country_code":"CN","type":"education","lineage":["https://openalex.org/I17145004"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shunqi Zhang","raw_affiliation_strings":["Northwestern Polytechnical University, Xi'an, Shaanxi, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northwestern Polytechnical University, Xi'an, Shaanxi, China","institution_ids":["https://openalex.org/I17145004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I17145004"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"27","issue":null,"first_page":"1005","last_page":"1010"},"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":0.9904000163078308,"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/T11170","display_name":"Biomimetic flight and propulsion mechanisms","score":0.982200026512146,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/payload","display_name":"Payload (computing)","score":0.8233351707458496},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8232142925262451},{"id":"https://openalex.org/keywords/spring","display_name":"Spring (device)","score":0.5551877021789551},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5453088879585266},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4674462080001831},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4549744129180908},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4421405792236328},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42984700202941895},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4136439263820648},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2980276942253113},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.14737844467163086},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12855267524719238},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10125237703323364}],"concepts":[{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.8233351707458496},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8232142925262451},{"id":"https://openalex.org/C2778712887","wikidata":"https://www.wikidata.org/wiki/Q102836","display_name":"Spring (device)","level":2,"score":0.5551877021789551},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5453088879585266},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4674462080001831},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4549744129180908},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4421405792236328},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42984700202941895},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4136439263820648},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2980276942253113},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.14737844467163086},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12855267524719238},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10125237703323364},{"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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2016.7866456","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2016.7866456","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.44999998807907104}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1975230295","https://openalex.org/W1980024785","https://openalex.org/W2010026582","https://openalex.org/W2015201597","https://openalex.org/W2019808503","https://openalex.org/W2157826678","https://openalex.org/W2170320699","https://openalex.org/W2288893184","https://openalex.org/W2317019953","https://openalex.org/W2572902479","https://openalex.org/W6644135095"],"related_works":["https://openalex.org/W1535080110","https://openalex.org/W306312984","https://openalex.org/W857189463","https://openalex.org/W2979675132","https://openalex.org/W2790520092","https://openalex.org/W4306309337","https://openalex.org/W2312786236","https://openalex.org/W4379531983","https://openalex.org/W2294241086","https://openalex.org/W2376984092"],"abstract_inverted_index":{"Payload":[0],"capacity":[1,72,101,153],"of":[2,49,96],"running":[3,50,174],"robots":[4,51],"with":[5,16,25,30,52,118,165,176],"compliant":[6,53],"legs":[7],"is":[8,137,169],"a":[9,43],"very":[10],"important":[11],"subject":[12],"for":[13,46,128,143,172],"robotic":[14],"researchers,":[15],"the":[17,47,65,84,88,94,114,123,129,132,138,144,150,177],"fact":[18],"that":[19,109],"SLIP":[20],"model,":[21],"two-segment":[22,115,162],"leg":[23,68,97,116,146,163],"model":[24,117,164],"constant":[26],"spring":[27,32,120,167],"stiffness":[28,33,98,121,136,168],"and":[29,70,87,127],"`J'-curve":[31,166],"are":[34],"regarded":[35],"as":[36,40,42],"an":[37],"effective":[38],"tool":[39],"well":[41],"good":[44],"basis":[45],"study":[48],"legs.":[54],"However,":[55],"in":[56,102,110,154],"fast":[57],"locomotion,":[58],"little":[59],"work":[60],"has":[61],"been":[62],"done":[63],"on":[64,74,99],"relationship":[66],"between":[67],"compliance":[69],"payload":[71,100,152],"based":[73],"these":[75],"three":[76,104,112,156],"models.":[77,105,157,180],"Thus,":[78,158],"at":[79,159],"high":[80,160],"speed":[81,161],"we":[82],"adopt":[83],"steps-to-fall":[85],"method":[86],"apex":[89],"return":[90],"map":[91],"to":[92],"investigate":[93],"influence":[95],"all":[103,111,155],"Simulation":[106],"results":[107],"reveal":[108],"models":[113],"J-curve":[119],"shows":[122],"largest":[124],"stability":[125],"region,":[126],"same":[130,145],"payloads":[131],"tolerated":[133],"minimum":[134],"reference":[135],"lowest.":[139],"In":[140],"other":[141,178],"words,":[142],"stiffness,":[147],"it":[148],"provides":[149],"maximum":[151],"more":[170],"propitious":[171],"high-payload":[173],"compared":[175],"two":[179]},"counts_by_year":[],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
