{"id":"https://openalex.org/W2129936198","doi":"https://doi.org/10.1109/tro.2010.2052398","title":"The Actuator With Mechanically Adjustable Series Compliance","display_name":"The Actuator With Mechanically Adjustable Series Compliance","publication_year":2010,"publication_date":"2010-07-20","ids":{"openalex":"https://openalex.org/W2129936198","doi":"https://doi.org/10.1109/tro.2010.2052398","mag":"2129936198"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2010.2052398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2052398","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/journal_contribution/An_actuator_with_mechanically_adjustable_series_compliance/6551861","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5026407792","display_name":"Jonathan Hurst","orcid":null},"institutions":[{"id":"https://openalex.org/I131249849","display_name":"Oregon State University","ror":"https://ror.org/00ysfqy60","country_code":"US","type":"education","lineage":["https://openalex.org/I131249849"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jonathan W Hurst","raw_affiliation_strings":["School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, OR, USA","Sch. of Mech., Ind. & Manuf. Eng., Oregon State Univ., Corvallis, OR, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]},{"raw_affiliation_string":"Sch. of Mech., Ind. & Manuf. Eng., Oregon State Univ., Corvallis, OR, USA","institution_ids":["https://openalex.org/I131249849"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059459603","display_name":"Joel Chestnutt","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Joel E Chestnutt","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","Digital Human Res. Center, Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Digital Human Res. Center, Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111915942","display_name":"Alfred A. Rizzi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210143335","display_name":"Boston Dynamics (United States)","ror":"https://ror.org/0488ezv32","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143335"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alfred A Rizzi","raw_affiliation_strings":["Boston Dynamics, Inc., Boston, MA, USA","[Boston Dynamics, Inc., Boston, MA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Boston Dynamics, Inc., Boston, MA, USA","institution_ids":["https://openalex.org/I4210143335"]},{"raw_affiliation_string":"[Boston Dynamics, Inc., Boston, MA, USA]","institution_ids":["https://openalex.org/I4210143335"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.6453,"has_fulltext":true,"cited_by_count":196,"citation_normalized_percentile":{"value":0.98832252,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"26","issue":"4","first_page":"597","last_page":"606"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9987000226974487,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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/actuator","display_name":"Actuator","score":0.8434069156646729},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6588394641876221},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6324854493141174},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5993825197219849},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754251480102539},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5027973651885986},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.46286165714263916},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4593070447444916},{"id":"https://openalex.org/keywords/mechanical-system","display_name":"Mechanical system","score":0.45557987689971924},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.44501906633377075},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.44196417927742004},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42366480827331543},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3707049489021301},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.11840358376502991},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11059781908988953}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.8434069156646729},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6588394641876221},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6324854493141174},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5993825197219849},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754251480102539},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5027973651885986},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.46286165714263916},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4593070447444916},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.45557987689971924},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.44501906633377075},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.44196417927742004},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42366480827331543},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3707049489021301},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.11840358376502991},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11059781908988953},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":6,"locations":[{"id":"doi:10.1109/tro.2010.2052398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2010.2052398","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:figshare.com:article/6551861","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/An_actuator_with_mechanically_adjustable_series_compliance/6551861","pdf_url":"https://figshare.com/articles/journal_contribution/An_actuator_with_mechanically_adjustable_series_compliance/6551861","source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:repository.cmu.edu:robotics-1719","is_oa":false,"landing_page_url":"http://repository.cmu.edu/robotics/720","pdf_url":null,"source":{"id":"https://openalex.org/S4306400668","display_name":"Research Showcase @ Carnegie Mellon University (Carnegie Mellon University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I74973139","host_organization_name":"Carnegie Mellon University","host_organization_lineage":["https://openalex.org/I74973139"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics Institute","raw_type":"text"},{"id":"pmh:doi:10.1184/r1/6551861","is_oa":false,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","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":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Journal contribution"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.208.1533","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.208.1533","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.msl.ri.cmu.edu/publications/pdfs/JWH_report.pdf","raw_type":"text"},{"id":"doi:10.1184/r1/6551861.v1","is_oa":true,"landing_page_url":"https://doi.org/10.1184/r1/6551861.v1","pdf_url":null,"source":{"id":"https://openalex.org/S7407050927","display_name":"KiltHub Repository","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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"JournalArticle"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/6551861","is_oa":true,"landing_page_url":"https://figshare.com/articles/journal_contribution/An_actuator_with_mechanically_adjustable_series_compliance/6551861","pdf_url":"https://figshare.com/articles/journal_contribution/An_actuator_with_mechanically_adjustable_series_compliance/6551861","source":{"id":"https://openalex.org/S4306402621","display_name":"INDIGO (University of Illinois at Chicago)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39422238","host_organization_name":"University of Illinois Chicago","host_organization_lineage":["https://openalex.org/I39422238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320310207","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2129936198.pdf","grobid_xml":"https://content.openalex.org/works/W2129936198.grobid-xml"},"referenced_works_count":51,"referenced_works":["https://openalex.org/W626252789","https://openalex.org/W1521257674","https://openalex.org/W1563151479","https://openalex.org/W1578038264","https://openalex.org/W1587945716","https://openalex.org/W1874450194","https://openalex.org/W1883629334","https://openalex.org/W1915160254","https://openalex.org/W1993947586","https://openalex.org/W2007451758","https://openalex.org/W2008342119","https://openalex.org/W2010026582","https://openalex.org/W2022561860","https://openalex.org/W2025216728","https://openalex.org/W2029758838","https://openalex.org/W2049904216","https://openalex.org/W2075135730","https://openalex.org/W2080487795","https://openalex.org/W2086587468","https://openalex.org/W2096518025","https://openalex.org/W2096527834","https://openalex.org/W2102762991","https://openalex.org/W2108154420","https://openalex.org/W2111364616","https://openalex.org/W2113873479","https://openalex.org/W2116655729","https://openalex.org/W2119778835","https://openalex.org/W2120085742","https://openalex.org/W2127149351","https://openalex.org/W2131057596","https://openalex.org/W2131404784","https://openalex.org/W2146820169","https://openalex.org/W2149606028","https://openalex.org/W2153366512","https://openalex.org/W2157826678","https://openalex.org/W2159319328","https://openalex.org/W2160808930","https://openalex.org/W2161427949","https://openalex.org/W2162167832","https://openalex.org/W2162982680","https://openalex.org/W2165529265","https://openalex.org/W2166699596","https://openalex.org/W2170715515","https://openalex.org/W2174295199","https://openalex.org/W2239779524","https://openalex.org/W2914669743","https://openalex.org/W3127697314","https://openalex.org/W6633972438","https://openalex.org/W6639858365","https://openalex.org/W6683797045","https://openalex.org/W6685244154"],"related_works":["https://openalex.org/W2410395228","https://openalex.org/W3125941065","https://openalex.org/W4366371796","https://openalex.org/W2484615095","https://openalex.org/W2007221537","https://openalex.org/W4366371752","https://openalex.org/W4205440829","https://openalex.org/W2339265919","https://openalex.org/W4366449942","https://openalex.org/W2082863316"],"abstract_inverted_index":{"Running":[0],"is":[1],"a":[2,19,33,66],"complex":[3],"dynamic":[4],"task":[5],"that":[6],"places":[7],"strict":[8],"requirements":[9,27],"on":[10],"both":[11],"the":[12,44,75,82],"physical":[13],"components":[14],"and":[15,47,61],"software-control":[16,48],"systems":[17],"of":[18,25,40,65,77,84],"robot.":[20],"This":[21],"paper":[22],"explores":[23,31],"some":[24],"those":[26],"and,":[28],"in":[29],"particular,":[30],"how":[32],"variable-compliance":[34],"actuation":[35],"system":[36,49],"can":[37],"satisfy":[38],"many":[39],"them.":[41],"We":[42,55],"present":[43],"mechanical":[45],"design":[46],"for":[50],"such":[51],"an":[52],"actuator":[53,80],"system.":[54],"analyze":[56],"its":[57],"performance":[58],"through":[59,73],"simulation":[60],"bench-top":[62],"experimental":[63],"validation":[64],"prototype":[67],"version.":[68],"In":[69],"conclusion,":[70],"we":[71],"demonstrate,":[72],"simulation,":[74],"application":[76],"our":[78],"proof-of-concept":[79],"to":[81],"problem":[83],"biped":[85],"running.":[86]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":15},{"year":2019,"cited_by_count":22},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":15},{"year":2016,"cited_by_count":14},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":18},{"year":2013,"cited_by_count":14},{"year":2012,"cited_by_count":16}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
