{"id":"https://openalex.org/W2561708991","doi":"https://doi.org/10.1109/ssrr.2016.7784334","title":"Mechanical design of robot lower body based on four-bar linkage structure for energy efficient bipedal walking","display_name":"Mechanical design of robot lower body based on four-bar linkage structure for energy efficient bipedal walking","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2561708991","doi":"https://doi.org/10.1109/ssrr.2016.7784334","mag":"2561708991"},"language":"en","primary_location":{"id":"doi:10.1109/ssrr.2016.7784334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","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/A5072627874","display_name":"Sanghoon Han","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Sanghoon Han","raw_affiliation_strings":["KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013933699","display_name":"Sangwoo Um","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Sangwoo Um","raw_affiliation_strings":["KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100379510","display_name":"Soohyun Kim","orcid":"https://orcid.org/0000-0003-0628-3737"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Soohyun Kim","raw_affiliation_strings":["KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea"],"affiliations":[{"raw_affiliation_string":"KAIST Korea Advanced Institute of Science and Technology Mechatronics, Systems and Control Lab., Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5072627874"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":1.0256,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.77413433,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"402","last_page":"407"},"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":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9922000169754028,"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/robot","display_name":"Robot","score":0.6188339591026306},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6168503761291504},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5661497116088867},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.563004195690155},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5071077346801758},{"id":"https://openalex.org/keywords/moment-of-inertia","display_name":"Moment of inertia","score":0.49651771783828735},{"id":"https://openalex.org/keywords/efficient-energy-use","display_name":"Efficient energy use","score":0.4962487816810608},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4695701599121094},{"id":"https://openalex.org/keywords/rigidity","display_name":"Rigidity (electromagnetism)","score":0.46197545528411865},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42578500509262085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3428521156311035},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1991768479347229},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.158014178276062},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14070722460746765}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6188339591026306},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6168503761291504},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5661497116088867},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.563004195690155},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5071077346801758},{"id":"https://openalex.org/C10238366","wikidata":"https://www.wikidata.org/wiki/Q165618","display_name":"Moment of inertia","level":2,"score":0.49651771783828735},{"id":"https://openalex.org/C2742236","wikidata":"https://www.wikidata.org/wiki/Q924713","display_name":"Efficient energy use","level":2,"score":0.4962487816810608},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4695701599121094},{"id":"https://openalex.org/C160343418","wikidata":"https://www.wikidata.org/wiki/Q185256","display_name":"Rigidity (electromagnetism)","level":2,"score":0.46197545528411865},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42578500509262085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3428521156311035},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1991768479347229},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.158014178276062},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14070722460746765},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"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/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"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":1,"locations":[{"id":"doi:10.1109/ssrr.2016.7784334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssrr.2016.7784334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.7900000214576721,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320324161","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63"},{"id":"https://openalex.org/F4320330018","display_name":"Korea Hydro and Nuclear Power","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1581670545","https://openalex.org/W1993314711","https://openalex.org/W2074154222","https://openalex.org/W2139255095","https://openalex.org/W2142132924","https://openalex.org/W2154938948","https://openalex.org/W2157055752","https://openalex.org/W6648445589"],"related_works":["https://openalex.org/W2626846570","https://openalex.org/W2362401724","https://openalex.org/W2089384921","https://openalex.org/W2068558458","https://openalex.org/W2056518890","https://openalex.org/W2357592839","https://openalex.org/W2002412414","https://openalex.org/W2356887275","https://openalex.org/W2966270549","https://openalex.org/W2076049993"],"abstract_inverted_index":{"Since":[0],"the":[1,21,31,38,59,62,94,104,110,120,129,133,151,163,181,193,204,213,219],"Fukushima":[2],"nuclear":[3],"plant":[4],"disaster":[5,32],"in":[6,20,72,209],"Japan":[7],"2011,":[8],"a":[9,198],"lot":[10],"of":[11,18,28,40,61,81,119,138,183],"robot":[12,66,107,145,164,206],"has":[13,168],"been":[14],"developed":[15],"on":[16,44,128,156,192,212],"behalf":[17],"human":[19],"disaster.":[22],"But":[23],"they":[24],"are":[25,37,85,126],"not":[26],"capable":[27],"coping":[29],"with":[30,114,175],"yet.":[33],"The":[34,117],"main":[35],"reasons":[36],"lack":[39],"bipedal":[41,64,143],"walking":[42,65,144,199],"technology":[43],"uneven":[45],"terrain":[46],"and":[47,83,123,136,154,188,216],"short":[48],"operating":[49],"time":[50],"due":[51,87],"to":[52,88,131,149,171,196,218],"low":[53],"energy":[54,75,152,189],"efficiency":[55,76,153,190],"during":[56],"walking.":[57],"In":[58],"case":[60],"existing":[63,220],"which":[67],"is":[68,77,142],"driven":[69],"by":[70],"actuators":[71,90],"each":[73,184],"joint,":[74],"poor":[78],"because":[79],"moment":[80,137],"inertia":[82],"mass":[84,135],"high":[86,115],"heavy":[89],"located":[91],"far":[92],"from":[93],"rotational":[95],"axis.":[96],"To":[97,158],"solve":[98],"this":[99,101],"problem,":[100],"paper":[102],"suggests":[103],"six":[105],"degree-of-freedom":[106],"leg":[108,134],"using":[109],"four-bar":[111],"linkage":[112],"mechanism":[113],"rigidity.":[116],"actuator":[118],"knee":[121],"joint":[122,125,185],"ankle":[124],"positioned":[127],"hip":[130],"reduce":[132],"inertia.":[139],"Our":[140],"aim":[141],"lower":[146,165,207],"body":[147,166,208],"design":[148],"increase":[150],"walk":[155],"highspeed.":[157],"do":[159],"so,":[160],"we":[161,179],"designed":[162,194],"that":[167],"optimal":[169],"dimension":[170],"endure":[172],"external":[173],"forces":[174],"minimum":[176],"mass.":[177],"And":[178],"simulated":[180],"result":[182],"trajectory,":[186],"torque":[187],"based":[191,211],"model":[195],"generate":[197],"pattern.":[200],"We":[201],"will":[202],"produce":[203],"actual":[205],"detail":[210],"derived":[214],"data,":[215],"compare":[217],"robots'":[221],"performance.":[222]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
