{"id":"https://openalex.org/W4251861244","doi":"https://doi.org/10.1109/tro.2015.2482061","title":"Model-Based Hydraulic Impedance Control for Dynamic Robots","display_name":"Model-Based Hydraulic Impedance Control for Dynamic Robots","publication_year":2015,"publication_date":"2015-11-18","ids":{"openalex":"https://openalex.org/W4251861244","doi":"https://doi.org/10.1109/tro.2015.2482061"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2015.2482061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2482061","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"],"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/A5068538937","display_name":"Thiago Boaventura","orcid":"https://orcid.org/0000-0002-9008-9883"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH","IT"],"is_corresponding":true,"raw_author_name":"Thiago Boaventura","raw_affiliation_strings":["Agile and Dexterous Robotics Laboratory, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Agile and Dexterous Robotics Laboratory, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Agile and Dexterous Robotics Laboratory, ETH Z\u00fcrich, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile and Dexterous Robotics Laboratory, ETH Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010033061","display_name":"Claudio Semini","orcid":"https://orcid.org/0000-0002-3034-4686"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Claudio Semini","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5068538937"],"corresponding_institution_ids":["https://openalex.org/I30771326","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.0919,"has_fulltext":false,"cited_by_count":125,"citation_normalized_percentile":{"value":0.95778035,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"31","issue":"6","first_page":"1324","last_page":"1336"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9987999796867371,"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":0.9986000061035156,"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/robot","display_name":"Robot","score":0.775136411190033},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6551384329795837},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.6198292970657349},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5875847339630127},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5737212896347046},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5380266904830933},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4891059994697571},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4542747437953949},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4519769847393036},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.43818220496177673},{"id":"https://openalex.org/keywords/bandwidth","display_name":"Bandwidth (computing)","score":0.4128863513469696},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.41119930148124695},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3652145564556122},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2479303479194641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15793564915657043}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.775136411190033},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6551384329795837},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.6198292970657349},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5875847339630127},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5737212896347046},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5380266904830933},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4891059994697571},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4542747437953949},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4519769847393036},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.43818220496177673},{"id":"https://openalex.org/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.4128863513469696},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.41119930148124695},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3652145564556122},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2479303479194641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15793564915657043},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tro.2015.2482061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2015.2482061","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Life in Land","id":"https://metadata.un.org/sdg/15","score":0.4300000071525574}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320325847","display_name":"Istituto Italiano di Tecnologia","ror":"https://ror.org/042t93s57"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W1554765194","https://openalex.org/W1789658038","https://openalex.org/W1964587260","https://openalex.org/W1965712203","https://openalex.org/W1968560077","https://openalex.org/W1991058191","https://openalex.org/W2008001601","https://openalex.org/W2017239762","https://openalex.org/W2028051197","https://openalex.org/W2028720893","https://openalex.org/W2063805130","https://openalex.org/W2073136132","https://openalex.org/W2077326740","https://openalex.org/W2086587468","https://openalex.org/W2094444216","https://openalex.org/W2105660272","https://openalex.org/W2107207454","https://openalex.org/W2108121392","https://openalex.org/W2111253117","https://openalex.org/W2111904757","https://openalex.org/W2112474089","https://openalex.org/W2126814366","https://openalex.org/W2126979370","https://openalex.org/W2132762434","https://openalex.org/W2133932631","https://openalex.org/W2141170102","https://openalex.org/W2149085596","https://openalex.org/W2150024155","https://openalex.org/W2150317946","https://openalex.org/W2157822824","https://openalex.org/W2160279521","https://openalex.org/W2160740770","https://openalex.org/W2163840478","https://openalex.org/W2676177988","https://openalex.org/W3022377941","https://openalex.org/W4205362845","https://openalex.org/W4254005064","https://openalex.org/W6740248316","https://openalex.org/W7000058673"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W2294490033","https://openalex.org/W1548357495","https://openalex.org/W2314048082","https://openalex.org/W1968487248","https://openalex.org/W2097006611","https://openalex.org/W4295916778","https://openalex.org/W2112995122","https://openalex.org/W2165087119","https://openalex.org/W1975719792"],"abstract_inverted_index":{"Increasingly,":[0],"robots":[1],"are":[2],"designed":[3],"to":[4,18,37,40,77,151],"interact":[5],"with":[6,20,87,130],"the":[7,42,54,69,78,91,98,110,119,136],"environment,":[8],"including":[9],"humans":[10],"and":[11,58,73,81,95,107,112,146,156],"tools.":[12],"Legged":[13],"robots,":[14],"in":[15,61,109],"particular,":[16],"have":[17],"deal":[19],"environmental":[21],"contacts":[22],"every":[23],"time":[24],"they":[25],"take":[26],"a":[27,131,141,154],"step.":[28],"To":[29],"handle":[30],"these":[31],"interactions":[32],"properly,":[33],"it":[34,129],"is":[35],"desirable":[36],"be":[38],"able":[39],"set":[41],"robot's":[43],"dynamic":[44,166],"behavior,":[45],"i.e.,":[46],"its":[47],"impedance.":[48],"In":[49,115],"this":[50,148],"contribution,":[51],"we":[52,117],"investigate":[53],"most":[55],"relevant":[56],"theoretical":[57],"practical":[59,155],"aspects":[60],"impedance":[62,111,162],"control":[63,163],"using":[64],"hydraulic":[65,167],"actuators,":[66],"ranging":[67],"from":[68],"force":[70,113],"dynamics":[71],"analysis":[72],"model-based":[74],"controller":[75],"design":[76],"overall":[79],"stability":[80],"performance":[82],"assessment.":[83],"We":[84],"present":[85],"results":[86],"one":[88],"leg":[89,125],"of":[90,100,121,135,144],"quadruped":[92],"robot":[93],"HyQ":[94],"also":[96],"highlight":[97],"influence":[99],"hardware":[101],"parameters,":[102],"such":[103,140],"as":[104,153],"valve":[105],"bandwidth":[106],"inertia,":[108],"tracking.":[114],"addition,":[116],"demonstrate":[118],"capabilities":[120],"HyQ's":[122],"actively":[123],"compliant":[124,133],"by":[126],"experimentally":[127],"comparing":[128],"passively":[132],"version":[134],"same":[137],"leg.":[138],"With":[139],"broad":[142],"spectrum":[143],"analyses":[145],"discussions,":[147],"paper":[149],"aims":[150],"serve":[152],"comprehensive":[157],"guide":[158],"for":[159],"implementing":[160],"high-performance":[161],"on":[164],"highly":[165],"robots.":[168]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":24},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":13},{"year":2016,"cited_by_count":3}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
