{"id":"https://openalex.org/W2149531014","doi":"https://doi.org/10.1109/robot.2006.1642324","title":"Compliance requirements for non-rebounding impact in legged locomotion","display_name":"Compliance requirements for non-rebounding impact in legged locomotion","publication_year":2006,"publication_date":"2006-07-10","ids":{"openalex":"https://openalex.org/W2149531014","doi":"https://doi.org/10.1109/robot.2006.1642324","mag":"2149531014"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2006.1642324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","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/A5007499439","display_name":"P. Berges","orcid":null},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]},{"id":"https://openalex.org/I4210140143","display_name":"Dynamic Systems (United States)","ror":"https://ror.org/043vm9914","country_code":"US","type":"company","lineage":["https://openalex.org/I4210140143"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"P. Berges","raw_affiliation_strings":["Robotics and Dynamic Systems Laboratory, AeroSpace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Dynamic Systems Laboratory, AeroSpace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228","https://openalex.org/I4210140143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5078432220","display_name":"Alan Bowling","orcid":"https://orcid.org/0000-0002-4861-3303"},"institutions":[{"id":"https://openalex.org/I107639228","display_name":"University of Notre Dame","ror":"https://ror.org/00mkhxb43","country_code":"US","type":"education","lineage":["https://openalex.org/I107639228"]},{"id":"https://openalex.org/I4210140143","display_name":"Dynamic Systems (United States)","ror":"https://ror.org/043vm9914","country_code":"US","type":"company","lineage":["https://openalex.org/I4210140143"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"A. Bowling","raw_affiliation_strings":["Robotics and Dynamic Systems Laboratory, AeroSpace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics and Dynamic Systems Laboratory, AeroSpace and Mechanical Engineering Department, University of Notre Dame, Notre Dame, IN, USA","institution_ids":["https://openalex.org/I107639228","https://openalex.org/I4210140143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.19078908,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"2","issue":null,"first_page":"4049","last_page":"4056"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9879999756813049,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9786999821662903,"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/control-theory","display_name":"Control theory (sociology)","score":0.6106384992599487},{"id":"https://openalex.org/keywords/coefficient-of-restitution","display_name":"Coefficient of restitution","score":0.6007975935935974},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5985170602798462},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.528849720954895},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.48824170231819153},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.481539785861969},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.4578053951263428},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.43429049849510193},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36730310320854187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32686373591423035},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.26025962829589844},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.24542942643165588},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1799008846282959},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1564176082611084},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1368444263935089},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1073356568813324}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6106384992599487},{"id":"https://openalex.org/C5364694","wikidata":"https://www.wikidata.org/wiki/Q1143011","display_name":"Coefficient of restitution","level":2,"score":0.6007975935935974},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5985170602798462},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.528849720954895},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.48824170231819153},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.481539785861969},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.4578053951263428},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.43429049849510193},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36730310320854187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32686373591423035},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.26025962829589844},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.24542942643165588},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1799008846282959},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1564176082611084},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1368444263935089},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1073356568813324},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2006.1642324","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2006.1642324","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5400000214576721,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W936495077","https://openalex.org/W1979183546","https://openalex.org/W1986598046","https://openalex.org/W2016564953","https://openalex.org/W2029742263","https://openalex.org/W2036919073","https://openalex.org/W2051347915","https://openalex.org/W2055999497","https://openalex.org/W2058873184","https://openalex.org/W2073911491","https://openalex.org/W2077202514","https://openalex.org/W2078303580","https://openalex.org/W2085746528","https://openalex.org/W2090974678","https://openalex.org/W2093897717","https://openalex.org/W2098759357","https://openalex.org/W2113647903","https://openalex.org/W2120642123","https://openalex.org/W2132250640","https://openalex.org/W2133755140","https://openalex.org/W2158928443","https://openalex.org/W2229648176"],"related_works":["https://openalex.org/W2329167139","https://openalex.org/W2410395228","https://openalex.org/W619251405","https://openalex.org/W3208217807","https://openalex.org/W3125941065","https://openalex.org/W4224943367","https://openalex.org/W4399489983","https://openalex.org/W2484615095","https://openalex.org/W2332067308","https://openalex.org/W2028594013"],"abstract_inverted_index":{"An":[0],"energetic":[1,48],"approach":[2,39],"for":[3,46,77],"analysis":[4],"of":[5,50,82],"the":[6,59,80,85],"impact":[7,98],"problem":[8],"in":[9,32,58,84],"three":[10],"dimensional":[11],"multi-legged":[12],"robot":[13],"locomotion":[14],"is":[15,20,91],"hereby":[16],"presented.":[17],"The":[18,36,72],"goal":[19],"to":[21,93],"combine":[22],"rigid":[23],"and":[24,44],"deformable":[25],"body":[26],"approaches":[27],"which":[28],"come":[29],"together":[30],"naturally":[31],"a":[33,67,75,88,95],"work-energy":[34],"framework.":[35],"proposed":[37],"hybrid":[38],"can":[40,63],"predict":[41],"both":[42],"rebound":[43],"non-rebound":[45],"an":[47],"coefficient":[49],"restitution":[51],"greater":[52],"than":[53],"zero.":[54],"Zero":[55],"tangential":[56],"velocity":[57],"impacting":[60],"end":[61],"effectors":[62],"be":[64],"also":[65],"predicted,":[66],"condition":[68],"known":[69],"as":[70],"sticking.":[71],"paper":[73],"presents":[74],"method":[76],"determining":[78],"whether":[79],"level":[81],"compliance":[83],"system":[86],"at":[87],"given":[89],"configuration":[90],"adequate":[92],"insure":[94],"no-slip,":[96],"no-rebound":[97]},"counts_by_year":[{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}