{"id":"https://openalex.org/W2109369260","doi":"https://doi.org/10.1109/robot.2008.4543302","title":"The influence of DC electric drives on sizing quadruped robots","display_name":"The influence of DC electric drives on sizing quadruped robots","publication_year":2008,"publication_date":"2008-05-01","ids":{"openalex":"https://openalex.org/W2109369260","doi":"https://doi.org/10.1109/robot.2008.4543302","mag":"2109369260"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2008.4543302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://doi.org/10.1109/ROBOT.2008.4543302","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5038098829","display_name":"Panagiotis Chatzakos","orcid":null},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I200777214","display_name":"National and Kapodistrian University of Athens","ror":"https://ror.org/04gnjpq42","country_code":"GR","type":"education","lineage":["https://openalex.org/I200777214"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Panagiotis Chatzakos","raw_affiliation_strings":["Department of Mechanical Engineering, National and Technical University of Athens, Greece","Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National and Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens#TAB#","institution_ids":["https://openalex.org/I200777214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103025258","display_name":"Evangelos Papadopoulos","orcid":"https://orcid.org/0000-0001-5026-0554"},"institutions":[{"id":"https://openalex.org/I174458059","display_name":"National Technical University of Athens","ror":"https://ror.org/03cx6bg69","country_code":"GR","type":"education","lineage":["https://openalex.org/I174458059"]},{"id":"https://openalex.org/I200777214","display_name":"National and Kapodistrian University of Athens","ror":"https://ror.org/04gnjpq42","country_code":"GR","type":"education","lineage":["https://openalex.org/I200777214"]}],"countries":["GR"],"is_corresponding":false,"raw_author_name":"Evangelos Papadopoulos","raw_affiliation_strings":["Department of Mechanical Engineering, National and Technical University of Athens, Greece","Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National and Technical University of Athens, Greece","institution_ids":["https://openalex.org/I174458059"]},{"raw_affiliation_string":"Dept. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens#TAB#","institution_ids":["https://openalex.org/I200777214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.2501,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.63557572,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"793","last_page":"798"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9592999815940857,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9449999928474426,"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/legged-robot","display_name":"Legged robot","score":0.8484801054000854},{"id":"https://openalex.org/keywords/sizing","display_name":"Sizing","score":0.834700345993042},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7900651693344116},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.617511510848999},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5697636008262634},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565337538719177},{"id":"https://openalex.org/keywords/propulsion","display_name":"Propulsion","score":0.550966739654541},{"id":"https://openalex.org/keywords/electric-motor","display_name":"Electric motor","score":0.49875307083129883},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4849824905395508},{"id":"https://openalex.org/keywords/dc-motor","display_name":"DC motor","score":0.4268166124820709},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41450023651123047},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38373738527297974},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3627097010612488},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.3335265517234802},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2870853543281555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15880393981933594},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.136717289686203},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.11908170580863953},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.06908443570137024}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.8484801054000854},{"id":"https://openalex.org/C2777767291","wikidata":"https://www.wikidata.org/wiki/Q1080291","display_name":"Sizing","level":2,"score":0.834700345993042},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7900651693344116},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.617511510848999},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5697636008262634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565337538719177},{"id":"https://openalex.org/C1034443","wikidata":"https://www.wikidata.org/wiki/Q2583685","display_name":"Propulsion","level":2,"score":0.550966739654541},{"id":"https://openalex.org/C176871988","wikidata":"https://www.wikidata.org/wiki/Q72313","display_name":"Electric motor","level":2,"score":0.49875307083129883},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4849824905395508},{"id":"https://openalex.org/C76684090","wikidata":"https://www.wikidata.org/wiki/Q3842034","display_name":"DC motor","level":2,"score":0.4268166124820709},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41450023651123047},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38373738527297974},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3627097010612488},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.3335265517234802},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2870853543281555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15880393981933594},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.136717289686203},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.11908170580863953},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.06908443570137024},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"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/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/robot.2008.4543302","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2008.4543302","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.147.2788","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.147.2788","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://nereus.mech.ntua.gr/pdf_ps/icra08_3.pdf","raw_type":"text"},{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32407","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543302","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:dspace.lib.ntua.gr:123456789/32407","is_oa":true,"landing_page_url":"http://doi.org/10.1109/ROBOT.2008.4543302","pdf_url":null,"source":{"id":"https://openalex.org/S4377196837","display_name":"DSpace - NTUA (National Technical University of Athens)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I174458059","host_organization_name":"National Technical University of Athens","host_organization_lineage":["https://openalex.org/I174458059"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Proceedings - IEEE International Conference on Robotics and Automation","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6700000166893005}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W219036020","https://openalex.org/W1822001265","https://openalex.org/W1998432481","https://openalex.org/W2011796652","https://openalex.org/W2054186704","https://openalex.org/W2102513453","https://openalex.org/W2106848320","https://openalex.org/W2123190101","https://openalex.org/W2156355884","https://openalex.org/W2165529265","https://openalex.org/W4247375569","https://openalex.org/W4297644865"],"related_works":["https://openalex.org/W2375311683","https://openalex.org/W2366062860","https://openalex.org/W2373777250","https://openalex.org/W2353956655","https://openalex.org/W2020653254","https://openalex.org/W2010454064","https://openalex.org/W2352072014","https://openalex.org/W217279133","https://openalex.org/W2393487946","https://openalex.org/W1506786376"],"abstract_inverted_index":{"In":[0],"legged":[1,18,50,80,102,137],"systems":[2,138],"design":[3,139],"an":[4],"important":[5],"question":[6,39],"applies":[7],"to:":[8],"\"What":[9],"can":[10],"be":[11],"inferred":[12],"from":[13,97],"the":[14,42,56,65,78,90,126,144],"performance":[15,91,122],"of":[16,20,58,67,77,92,101,146],"a":[17,21,28,45,110,147],"robot":[19,115,149],"similarly":[22],"configured":[23],"system,":[24],"but":[25],"scaled":[26],"to":[27,36,120],"smaller":[29],"or":[30],"larger":[31],"size?\"":[32],"Our":[33],"work":[34],"attempts":[35],"answer":[37],"this":[38],"and":[40,124,130,140],"set":[41],"basis":[43],"for":[44,86,142],"systematic":[46],"approach":[47],"in":[48],"sizing":[49],"robots.":[51,70,103],"This":[52],"paper":[53],"focuses":[54],"on":[55,64,136],"influence":[57],"permanent":[59],"magnet":[60],"DC":[61],"electric":[62,93],"drives":[63],"size":[66,145],"quadruped":[68,113,148],"running":[69,114],"The":[71,88],"reason":[72],"is":[73,117],"twofold.":[74],"First,":[75],"many":[76],"existing":[79,127],"machines":[81],"have":[82],"used":[83],"such":[84],"actuators":[85],"propulsion.":[87],"second,":[89],"motors":[94],"scales":[95],"differently":[96],"torque-":[98],"speed":[99],"requirements":[100],"Specifically,":[104],"we":[105],"show":[106],"that":[107,116],"there":[108],"exists":[109],"particularly":[111],"sized":[112],"superior":[118],"according":[119],"desired":[121],"criteria,":[123],"under":[125],"technologic":[128],"limitations":[129],"economic":[131],"restraints.":[132],"Therefore,":[133],"valuable":[134],"information":[135],"insight":[141],"optimizing":[143],"emerges.":[150]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
