{"id":"https://openalex.org/W3001377211","doi":"https://doi.org/10.1109/robio49542.2019.8961584","title":"Joint Torque Estimation for Dynamic Jumping Control of Compliant Gear-Driven Legged Robot","display_name":"Joint Torque Estimation for Dynamic Jumping Control of Compliant Gear-Driven Legged Robot","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3001377211","doi":"https://doi.org/10.1109/robio49542.2019.8961584","mag":"3001377211"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961584","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/A5029029175","display_name":"Dingan Cheng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Dingan Cheng","raw_affiliation_strings":["the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028686595","display_name":"Bingchen Jin","orcid":"https://orcid.org/0000-0002-6159-002X"},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingchen Jin","raw_affiliation_strings":["the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100549242","display_name":"Caiming Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Caiming Sun","raw_affiliation_strings":["the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101490495","display_name":"Aidong Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210116924","display_name":"Chinese University of Hong Kong, Shenzhen","ror":"https://ror.org/02d5ks197","country_code":"CN","type":"education","lineage":["https://openalex.org/I177725633","https://openalex.org/I180726961","https://openalex.org/I4210116924"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aidong Zhang","raw_affiliation_strings":["the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"the Chinese University of Hong Kong (CUHK),Institute of Robotics and Intelligent Manufacturing (IRIM),Shenzhen,China","institution_ids":["https://openalex.org/I4210116924"]},{"raw_affiliation_string":"Institute of Robotics and Intelligent Manufacturing (IRIM), the Chinese University of Hong Kong (CUHK), Shenzhen, China","institution_ids":["https://openalex.org/I4210116924"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007334674","display_name":"Shoubin Liu","orcid":"https://orcid.org/0000-0002-0472-0983"},"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":"Shoubin Liu","raw_affiliation_strings":["Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,China","School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China"],"affiliations":[{"raw_affiliation_string":"Harbin Institute of Technology,School of Mechanical Engineering and Automation,Shenzhen,China","institution_ids":["https://openalex.org/I204983213"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5029029175"],"corresponding_institution_ids":["https://openalex.org/I4210116924"],"apc_list":null,"apc_paid":null,"fwci":0.2989,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.57504624,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2019","issue":null,"first_page":"95","last_page":"101"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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":0.9973000288009644,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9933000206947327,"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/torque","display_name":"Torque","score":0.7969391345977783},{"id":"https://openalex.org/keywords/damping-torque","display_name":"Damping torque","score":0.7538868188858032},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6797801852226257},{"id":"https://openalex.org/keywords/stall-torque","display_name":"Stall torque","score":0.6584048271179199},{"id":"https://openalex.org/keywords/direct-torque-control","display_name":"Direct torque control","score":0.6301491856575012},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4606471359729767},{"id":"https://openalex.org/keywords/torque-motor","display_name":"Torque motor","score":0.42393726110458374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41653355956077576},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3893701136112213},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13703355193138123},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10462391376495361},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.06944581866264343},{"id":"https://openalex.org/keywords/induction-motor","display_name":"Induction motor","score":0.055607616901397705}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7969391345977783},{"id":"https://openalex.org/C40226289","wikidata":"https://www.wikidata.org/wiki/Q5212950","display_name":"Damping torque","level":5,"score":0.7538868188858032},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6797801852226257},{"id":"https://openalex.org/C17348537","wikidata":"https://www.wikidata.org/wiki/Q7597300","display_name":"Stall torque","level":5,"score":0.6584048271179199},{"id":"https://openalex.org/C109871850","wikidata":"https://www.wikidata.org/wiki/Q1227571","display_name":"Direct torque control","level":4,"score":0.6301491856575012},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4606471359729767},{"id":"https://openalex.org/C204054776","wikidata":"https://www.wikidata.org/wiki/Q2444432","display_name":"Torque motor","level":5,"score":0.42393726110458374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41653355956077576},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3893701136112213},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13703355193138123},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10462391376495361},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.06944581866264343},{"id":"https://openalex.org/C80962145","wikidata":"https://www.wikidata.org/wiki/Q207450","display_name":"Induction motor","level":3,"score":0.055607616901397705},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C165801399","wikidata":"https://www.wikidata.org/wiki/Q25428","display_name":"Voltage","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robio49542.2019.8961584","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961584","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"},{"id":"mag:3162145672","is_oa":false,"landing_page_url":"https://jglobal.jst.go.jp/en/detail?JGLOBAL_ID=202002217705122091","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.8799999952316284}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1567967320","https://openalex.org/W1963044288","https://openalex.org/W1986621758","https://openalex.org/W2063805130","https://openalex.org/W2121693658","https://openalex.org/W2131245153","https://openalex.org/W2134360776","https://openalex.org/W2137751226","https://openalex.org/W2152526632","https://openalex.org/W2295584263","https://openalex.org/W2555059385","https://openalex.org/W2772638041","https://openalex.org/W2782382048","https://openalex.org/W3003183615","https://openalex.org/W4250058668","https://openalex.org/W4250087872"],"related_works":["https://openalex.org/W1494822503","https://openalex.org/W2328640053","https://openalex.org/W2158120472","https://openalex.org/W3113939018","https://openalex.org/W2379878679","https://openalex.org/W2114550905","https://openalex.org/W2351274206","https://openalex.org/W2116016382","https://openalex.org/W2362527675","https://openalex.org/W2164275535"],"abstract_inverted_index":{"This":[0,188],"paper":[1],"is":[2,20,34,48,105,119,137,148,172],"to":[3,68,83,107,121,125,139],"explain":[4],"compliant":[5],"torque":[6,17,23,32,38,42,87,89,92,103,133,153,168,186,193],"control":[7,19,93,104,136,171,180,194],"for":[8,37,44],"gear":[9],"driven":[10],"legged":[11,46],"robot.":[12,141],"In":[13,123,142],"this":[14],"paper,":[15],"active":[16],"compliance":[18,128,192],"realized":[21],"without":[22,88],"sensor":[24,43],"or":[25],"any":[26],"mechanically":[27],"elastic":[28],"component.":[29],"The":[30,165],"joint":[31,86,152],"estimation":[33],"very":[35],"important":[36],"control.":[39,187],"However,":[40],"Joint":[41],"medium-size":[45],"robot":[47,118],"so":[49],"large":[50,198],"and":[51,66,79,99,129,134,181],"heavy":[52],"that":[53,150,177,184,190],"it":[54,147],"increases":[55],"the":[56,59,63,76,80,85,109,113,117,143,151,191],"inertia":[57],"of":[58,96,116,176,183,200],"leg,":[60],"slows":[61],"down":[62],"dynamic":[64],"response,":[65],"leads":[67],"complicated":[69],"electrical":[70],"system.":[71],"Therefore,":[72],"we":[73],"only":[74],"use":[75],"encoder":[77],"information":[78],"motor":[81],"current":[82],"estimate":[84],"sensors.":[90],"Compliant":[91],"have":[94],"advantages":[95],"absorbing":[97],"impacts":[98],"saving":[100],"energy.":[101],"But,":[102],"difficult":[106],"guarantee":[108],"position":[110,130,135,179],"precision,":[111],"because":[112],"accurate":[114],"model":[115],"hard":[120],"obtain.":[122],"order":[124],"ensure":[126],"both":[127],"accuracy,":[131],"hybrid":[132,170],"applied":[138],"our":[140],"jumping":[144,162],"motion":[145],"experiments,":[146],"verified":[149],"can":[154,195],"reach":[155],"peck":[156],"value":[157],"in":[158,169,185],"4.75":[159],"ms":[160],"when":[161],"up.":[163],"While":[164],"landing":[166],"peak":[167],"lower":[173],"than":[174],"1/6":[175],"under":[178],"1/2":[182],"indicates":[189],"absorb":[196],"a":[197],"part":[199],"shock.":[201]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}