{"id":"https://openalex.org/W4226014555","doi":"https://doi.org/10.1109/robio54168.2021.9739343","title":"Design of BRAVER - a bipedal robot actuated via proprioceptive electric motor","display_name":"Design of BRAVER - a bipedal robot actuated via proprioceptive electric motor","publication_year":2021,"publication_date":"2021-12-27","ids":{"openalex":"https://openalex.org/W4226014555","doi":"https://doi.org/10.1109/robio54168.2021.9739343"},"language":"en","primary_location":{"id":"doi:10.1109/robio54168.2021.9739343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739343","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 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/A5035738062","display_name":"Weiliang Zhu","orcid":"https://orcid.org/0000-0001-7489-7744"},"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":true,"raw_author_name":"Weiliang Zhu","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/A5042857298","display_name":"Zhengguo Zhu","orcid":"https://orcid.org/0000-0002-3041-4314"},"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":"Zhengguo Zhu","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/A5025820722","display_name":"Xuewen Rong","orcid":"https://orcid.org/0000-0003-3283-5347"},"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":"Xuewen Rong","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/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"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":"Yibin Li","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":"last","author":{"id":"https://openalex.org/A5070648653","display_name":"Guoteng Zhang","orcid":"https://orcid.org/0000-0001-7705-2819"},"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":"Guoteng Zhang","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"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5035738062"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32291133,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1046","last_page":"1051"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9969000220298767,"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":0.9962000250816345,"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/computer-science","display_name":"Computer science","score":0.6816000938415527},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6599115133285522},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5728046894073486},{"id":"https://openalex.org/keywords/proprioception","display_name":"Proprioception","score":0.5556076169013977},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.45870766043663025},{"id":"https://openalex.org/keywords/microcontroller","display_name":"Microcontroller","score":0.4458591341972351},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.42156949639320374},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4163752794265747},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4156748652458191},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36145633459091187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33184126019477844},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33072298765182495},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3087264895439148},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2992185950279236},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.20750269293785095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18382087349891663},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.15281185507774353},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14308780431747437},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.14065980911254883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10423555970191956},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.09403476119041443}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6816000938415527},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6599115133285522},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5728046894073486},{"id":"https://openalex.org/C171790689","wikidata":"https://www.wikidata.org/wiki/Q1129066","display_name":"Proprioception","level":2,"score":0.5556076169013977},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.45870766043663025},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.4458591341972351},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.42156949639320374},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4163752794265747},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4156748652458191},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36145633459091187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33184126019477844},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33072298765182495},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3087264895439148},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2992185950279236},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.20750269293785095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18382087349891663},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.15281185507774353},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14308780431747437},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.14065980911254883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10423555970191956},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.09403476119041443},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio54168.2021.9739343","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio54168.2021.9739343","pdf_url":null,"source":{"id":"https://openalex.org/S4363607846","display_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6700000166893005,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321543","display_name":"China Postdoctoral Science Foundation","ror":"https://ror.org/0426zh255"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1853143499","https://openalex.org/W1980780059","https://openalex.org/W1989901771","https://openalex.org/W2070122598","https://openalex.org/W2111904757","https://openalex.org/W2415959992","https://openalex.org/W2573227850","https://openalex.org/W2610901891","https://openalex.org/W2754995317","https://openalex.org/W2771495741","https://openalex.org/W2972798201","https://openalex.org/W3090041831","https://openalex.org/W3091663946"],"related_works":["https://openalex.org/W193314751","https://openalex.org/W4253813669","https://openalex.org/W2014373404","https://openalex.org/W2053711990","https://openalex.org/W2006407928","https://openalex.org/W4316095964","https://openalex.org/W2298182222","https://openalex.org/W2792430535","https://openalex.org/W1566120828","https://openalex.org/W2381279675"],"abstract_inverted_index":{"This":[0,47],"paper":[1,48],"provides":[2],"a":[3,15,74],"system":[4,60],"overview":[5],"about":[6],"BRAVER":[7,23],"(Bipedal":[8],"Robot":[9],"Actuated":[10],"Via":[11],"proprioceptive":[12,40],"Electric":[13],"motoRs),":[14],"lightweight":[16],"bipedal":[17,93],"robot":[18,54,94],"designed":[19],"for":[20],"fast":[21],"moving.":[22],"stands":[24],"above":[25],"0.5":[26],"m":[27],"tall,":[28],"weighs":[29],"approximately":[30],"6":[31],"kg,":[32],"and":[33,51,55,65,98],"features":[34],"8":[35],"torque-controlled":[36],"joints":[37],"powered":[38],"by":[39],"electric":[41],"motor":[42],"well-distributed":[43],"on":[44,58],"two":[45],"legs.":[46],"describes":[49],"design":[50],"implementation":[52],"of":[53,77],"presents":[56],"details":[57],"hardware":[59],"such":[61],"as":[62],"microcontroller,":[63],"actuation":[64],"sensor.":[66],"By":[67],"organizing":[68],"the":[69,81,92],"software":[70],"architecture,":[71],"we":[72],"achieve":[73],"control":[75,82],"frequency":[76],"1khz":[78],"to":[79,89],"meet":[80],"requirement.":[83],"Several":[84],"experiments":[85],"were":[86],"carried":[87],"out":[88],"prove":[90],"that":[91],"could":[95],"execute":[96],"position":[97],"torque":[99],"tracking":[100],"robustly.":[101]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}