{"id":"https://openalex.org/W2589244593","doi":"https://doi.org/10.1109/simpar.2016.7862390","title":"A comparative study of leg kinematics for energy-efficient locomotion","display_name":"A comparative study of leg kinematics for energy-efficient locomotion","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2589244593","doi":"https://doi.org/10.1109/simpar.2016.7862390","mag":"2589244593"},"language":"en","primary_location":{"id":"doi:10.1109/simpar.2016.7862390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","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/A5059004977","display_name":"Pranav A. Bhounsule","orcid":"https://orcid.org/0000-0002-7504-6009"},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Pranav A. Bhounsule","raw_affiliation_strings":["Dept. of Mechanical Engineering, The University of Texas at San Antonio, San Antonio, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, The University of Texas at San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036672376","display_name":"Jason Pusey","orcid":"https://orcid.org/0000-0001-9620-6449"},"institutions":[{"id":"https://openalex.org/I166416128","display_name":"DEVCOM Army Research Laboratory","ror":"https://ror.org/011hc8f90","country_code":"US","type":"government","lineage":["https://openalex.org/I1304082316","https://openalex.org/I1330347796","https://openalex.org/I166416128","https://openalex.org/I2802705668","https://openalex.org/I4210154437"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason Pusey","raw_affiliation_strings":["Aberdeen Proving Grounds, Army Research Laboratory, Aberdeen, MD, UTSA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aberdeen Proving Grounds, Army Research Laboratory, Aberdeen, MD, UTSA","institution_ids":["https://openalex.org/I166416128"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5000735721","display_name":"Chelsea Moussouni","orcid":null},"institutions":[{"id":"https://openalex.org/I45438204","display_name":"The University of Texas at San Antonio","ror":"https://ror.org/01kd65564","country_code":"US","type":"education","lineage":["https://openalex.org/I45438204"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chelsea Moussouni","raw_affiliation_strings":["Dept. of Mechanical Engineering, The University of Texas at San Antonio, San Antonio, TX, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dept. of Mechanical Engineering, The University of Texas at San Antonio, San Antonio, TX, USA","institution_ids":["https://openalex.org/I45438204"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5059004977"],"corresponding_institution_ids":["https://openalex.org/I45438204"],"apc_list":null,"apc_paid":null,"fwci":0.3499,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66273432,"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":"155","last_page":"161"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9883000254631042,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.650641143321991},{"id":"https://openalex.org/keywords/leg-muscle","display_name":"Leg muscle","score":0.6499473452568054},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6170955896377563},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.6037511229515076},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.44283628463745117},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43403464555740356},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.421836256980896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40508005023002625},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.3403901159763336},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.3392677307128906},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.25689059495925903},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.19034498929977417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17083194851875305},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1524273157119751},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12510022521018982}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.650641143321991},{"id":"https://openalex.org/C3019295976","wikidata":"https://www.wikidata.org/wiki/Q6027402","display_name":"Leg muscle","level":2,"score":0.6499473452568054},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6170955896377563},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.6037511229515076},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.44283628463745117},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43403464555740356},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.421836256980896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40508005023002625},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.3403901159763336},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.3392677307128906},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.25689059495925903},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.19034498929977417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17083194851875305},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1524273157119751},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12510022521018982},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/simpar.2016.7862390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/simpar.2016.7862390","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W269725023","https://openalex.org/W572224030","https://openalex.org/W1500349428","https://openalex.org/W1979445726","https://openalex.org/W2022144657","https://openalex.org/W2047234459","https://openalex.org/W2051347915","https://openalex.org/W2071307076","https://openalex.org/W2086587468","https://openalex.org/W2100625779","https://openalex.org/W2129224530","https://openalex.org/W2138136244","https://openalex.org/W2295130897","https://openalex.org/W2314684457","https://openalex.org/W2337224132","https://openalex.org/W2409825332","https://openalex.org/W2523146987","https://openalex.org/W4285719527","https://openalex.org/W6630087979","https://openalex.org/W6727837994","https://openalex.org/W7034324913"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W4214678870","https://openalex.org/W2222614663","https://openalex.org/W2973099332","https://openalex.org/W4211192751","https://openalex.org/W3105505778","https://openalex.org/W2769181463"],"abstract_inverted_index":{"It":[0],"has":[1,17,28,145],"been":[2,29],"theorized":[3],"that":[4,133,162,209,215,243],"biological":[5],"legs":[6,136],"or":[7],"the":[8,52,60,92,98,101,104,142,146,163,175,179,189,198,202,205,211,221,225,231,244,248,266],"serial":[9,164,212,232,249],"leg":[10,45,58,63,93,106,117,144,165,172,180,185,193,199,207,213,218,223,233,235,246,250],"with":[11,43],"a":[12,32,76,88,115,153,184],"knee":[13],"and":[14,25,54,68,95,119,123,174,191,256],"hip":[15],"joint":[16],"evolved":[18],"over":[19],"centuries":[20],"for":[21,114,170,234],"energy":[22,112,168],"efficient":[23,169],"locomotion":[24],"as":[26,51,97,178],"such,":[27],"adapted":[30],"into":[31],"multitude":[33],"of":[34,40,79,85,100,121,156,187,204,210,216,268],"legged":[35,41],"robots.":[36],"However,":[37,220],"recent":[38],"success":[39],"robots":[42],"alternate":[44],"morphologies":[46],"without":[47],"actuated":[48],"knees,":[49],"such":[50],"parallel":[53,190,217],"symmetric":[55,143,192,206,222,245],"five-bar":[56],"link":[57],"raises":[59],"question:":[61],"which":[62],"geometry":[64],"is":[65,166,242],"more":[66],"energy-efficient":[67],"why?":[69],"To":[70],"answer":[71],"this":[72],"question,":[73],"we":[74,109,127,131,151,160],"created":[75],"minimal":[77],"model":[78],"bipedal":[80],"walking":[81],"whose":[82],"non-dimensionalised":[83],"equations":[84],"motion":[86],"have":[87,137,194],"single":[89],"free":[90],"parameter,":[91],"ratio":[94,99,118,181,186,200],"defined":[96],"distal":[102],"to":[103,254,262],"proximal":[105],"length.":[107,125],"Then":[108],"performed":[110],"an":[111,138,157],"minimization":[113],"given":[116],"combination":[120],"speed":[122],"step":[124],"When":[126,150],"optimized":[128,152],"mechanical":[129],"work,":[130],"found":[132,161],"all":[134,171],"three":[135],"identical":[139,195],"efficiency,":[140],"but":[141],"lowest":[147],"peak":[148,227,259],"torque.":[149],"cost":[154,176,267],"representative":[155],"electric":[158],"motor,":[159],"most":[167],"ratios,":[173],"decreases":[177],"increases.":[182],"For":[183],"1,":[188],"efficiencies.":[196],"As":[197],"increases,":[201],"efficiency":[203],"approaches":[208],"while":[214],"decreases.":[219],"produces":[224],"least":[226],"torque":[228],"followed":[229],"by":[230,251],"ratios":[236],"greater":[237],"than":[238],"1.":[239],"Our":[240],"conclusion":[241],"rivals":[247],"being":[252,269],"easier":[253],"design":[255],"having":[257],"smaller":[258,263],"torques":[260],"leading":[261],"actuators":[264],"at":[265],"slightly":[270],"less":[271],"energy-efficient.":[272]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-05-03T08:25:01.440150","created_date":"2025-10-10T00:00:00"}
