{"id":"https://openalex.org/W3003138177","doi":"https://doi.org/10.1109/robio49542.2019.8961420","title":"Walking of Biped Robot with Variable Stiffness at the Ankle Joint","display_name":"Walking of Biped Robot with Variable Stiffness at the Ankle Joint","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3003138177","doi":"https://doi.org/10.1109/robio49542.2019.8961420","mag":"3003138177"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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/A5014834489","display_name":"Qing Bi","orcid":"https://orcid.org/0000-0003-2052-9182"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4387152797","display_name":"Shandong Institute of Advanced Technology","ror":"https://ror.org/02n7p8p77","country_code":null,"type":"education","lineage":["https://openalex.org/I4387152797"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qing Bi","raw_affiliation_strings":["Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I19820366","https://openalex.org/I4387152797"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100621839","display_name":"Yixiang Liu","orcid":"https://orcid.org/0000-0002-6217-7093"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yixiang Liu","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043336501","display_name":"Xizhe Zang","orcid":"https://orcid.org/0000-0002-5124-3999"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xizhe Zang","raw_affiliation_strings":["Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,State Key Laboratory of Robotics and System,Harbin,China,150080","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101645277","display_name":"Rui Song","orcid":"https://orcid.org/0000-0002-4119-4433"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Song","raw_affiliation_strings":["Shandong University,School of Control Science and Engineering,Jinan,China,250061"],"affiliations":[{"raw_affiliation_string":"Shandong University,School of Control Science and Engineering,Jinan,China,250061","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408832","display_name":"Haibin Wang","orcid":"https://orcid.org/0000-0002-5834-0492"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I4387152797","display_name":"Shandong Institute of Advanced Technology","ror":"https://ror.org/02n7p8p77","country_code":null,"type":"education","lineage":["https://openalex.org/I4387152797"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haibin Wang","raw_affiliation_strings":["Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I19820366","https://openalex.org/I4387152797"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100635474","display_name":"Weimin Li","orcid":"https://orcid.org/0000-0001-9325-0057"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4387152797","display_name":"Shandong Institute of Advanced Technology","ror":"https://ror.org/02n7p8p77","country_code":null,"type":"education","lineage":["https://openalex.org/I4387152797"]},{"id":"https://openalex.org/I4210142748","display_name":"Shandong Academy of Sciences","ror":"https://ror.org/04y8d6y55","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210142748"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Li","raw_affiliation_strings":["Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001"],"affiliations":[{"raw_affiliation_string":"Chinese Academy of Sciences,Shandong Institute of Advanced Technology,Jinan,China,250001","institution_ids":["https://openalex.org/I4210142748","https://openalex.org/I19820366","https://openalex.org/I4387152797"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5014834489"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210142748","https://openalex.org/I4387152797"],"apc_list":null,"apc_paid":null,"fwci":0.0978,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.45969808,"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":"1899","last_page":"1903"},"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":0.9947999715805054,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9796000123023987,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/ankle","display_name":"Ankle","score":0.6957433223724365},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6890512704849243},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.557087242603302},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5252594351768494},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.523953914642334},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5127066373825073},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5117297172546387},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.4853457510471344},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4326457381248474},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4159160256385803},{"id":"https://openalex.org/keywords/biped-robot","display_name":"Biped robot","score":0.4119277596473694},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41062334179878235},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30459755659103394},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.26301777362823486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25344792008399963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14858314394950867},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12134784460067749},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10241609811782837},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.09218022227287292}],"concepts":[{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.6957433223724365},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6890512704849243},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.557087242603302},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5252594351768494},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.523953914642334},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5127066373825073},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5117297172546387},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.4853457510471344},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4326457381248474},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4159160256385803},{"id":"https://openalex.org/C3019356360","wikidata":"https://www.wikidata.org/wiki/Q372949","display_name":"Biped robot","level":3,"score":0.4119277596473694},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41062334179878235},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30459755659103394},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.26301777362823486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25344792008399963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14858314394950867},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12134784460067749},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10241609811782837},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.09218022227287292},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961420","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961420","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 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","score":0.8999999761581421,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1514128053","https://openalex.org/W1630585799","https://openalex.org/W1967019256","https://openalex.org/W1979062289","https://openalex.org/W2010917654","https://openalex.org/W2033136454","https://openalex.org/W2040960058","https://openalex.org/W2054857883","https://openalex.org/W2084693106","https://openalex.org/W2138136244","https://openalex.org/W2138671676","https://openalex.org/W2144782780","https://openalex.org/W2156968214","https://openalex.org/W2791884209","https://openalex.org/W2794012761","https://openalex.org/W2935302383","https://openalex.org/W6680588179"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W2018616004","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W2115251065","https://openalex.org/W2116005591"],"abstract_inverted_index":{"Achieving":[0],"versatile":[1],"and":[2,18,79,110],"efficient":[3],"walking":[4,26,34,63,72,92,108],"on":[5,24,32],"biped":[6,29,61,87],"robots":[7],"is":[8,83],"an":[9],"important":[10],"research":[11],"objective.":[12],"The":[13],"impact":[14],"between":[15],"the":[16,19,25,37,58,68,86,99,105],"foot":[17],"ground":[20],"has":[21],"significant":[22],"effects":[23],"stability":[27,109],"of":[28,50,60,90,107],"robots.":[30],"Research":[31],"human":[33,40],"indicates":[35],"that":[36,95],"joints":[38],"in":[39,47],"lower":[41],"limbs":[42],"show":[43],"different":[44,48],"stiffness":[45,66,97],"values":[46],"phases":[49],"walking.":[51],"Inspired":[52],"by":[53],"humans,":[54],"this":[55],"paper":[56],"presents":[57],"realization":[59],"robot":[62],"with":[64],"variable":[65,80,96],"at":[67,98],"ankle":[69,100],"joint.":[70],"A":[71],"control":[73,78,82],"scheme":[74],"which":[75],"combines":[76],"PD":[77],"impedance":[81],"designed":[84],"for":[85],"robot.":[88],"Results":[89],"dynamic":[91],"simulation":[93],"verified":[94],"joint":[101],"could":[102],"contribute":[103],"to":[104],"improvement":[106],"energy":[111],"efficiency.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}