{"id":"https://openalex.org/W4312387150","doi":"https://doi.org/10.1109/tro.2022.3206665","title":"An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration","display_name":"An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration","publication_year":2022,"publication_date":"2022-09-30","ids":{"openalex":"https://openalex.org/W4312387150","doi":"https://doi.org/10.1109/tro.2022.3206665"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2022.3206665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3206665","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"],"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/A5059248509","display_name":"Yuan Hu","orcid":"https://orcid.org/0000-0001-5533-4997"},"institutions":[{"id":"https://openalex.org/I148128674","display_name":"University of Shanghai for Science and Technology","ror":"https://ror.org/00ay9v204","country_code":"CN","type":"education","lineage":["https://openalex.org/I148128674"]},{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuan Hu","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0001-5533-4997","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai, China","institution_ids":["https://openalex.org/I148128674"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081091343","display_name":"Weizhong Guo","orcid":"https://orcid.org/0000-0002-8982-7105"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weizhong Guo","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-8982-7105","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049562553","display_name":"Rongfu Lin","orcid":"https://orcid.org/0000-0002-7000-7318"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rongfu Lin","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3967,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.54334947,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":97},"biblio":{"volume":"39","issue":"2","first_page":"923","last_page":"940"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9957000017166138,"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":0.9804999828338623,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7769488096237183},{"id":"https://openalex.org/keywords/power-consumption","display_name":"Power consumption","score":0.7060463428497314},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6822175979614258},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.6146332025527954},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6098255515098572},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5071303844451904},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.477588415145874},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4559905529022217},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37634798884391785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.36993882060050964},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3471170663833618},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29701298475265503},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1615745723247528},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05746743083000183}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7769488096237183},{"id":"https://openalex.org/C2984118289","wikidata":"https://www.wikidata.org/wiki/Q29954","display_name":"Power consumption","level":3,"score":0.7060463428497314},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6822175979614258},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.6146332025527954},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6098255515098572},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5071303844451904},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.477588415145874},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4559905529022217},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37634798884391785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.36993882060050964},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3471170663833618},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29701298475265503},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1615745723247528},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05746743083000183},{"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/tro.2022.3206665","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2022.3206665","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9200000166893005,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[{"id":"https://openalex.org/G6382894610","display_name":"\u7740\u9646\u5de1\u89c6\u4e00\u4f53\u5316\u65b0\u578b\u63a2\u6d4b\u5668\u590d\u6742\u673a\u6784\u521b\u65b0\u8bbe\u8ba1\u7814\u7a76","funder_award_id":"51735009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7819012352","display_name":null,"funder_award_id":"51905338","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1898944942","https://openalex.org/W1964653130","https://openalex.org/W1969240307","https://openalex.org/W1979833411","https://openalex.org/W2027018386","https://openalex.org/W2049965857","https://openalex.org/W2071666790","https://openalex.org/W2113265921","https://openalex.org/W2149990667","https://openalex.org/W2157929788","https://openalex.org/W2409825332","https://openalex.org/W2473593741","https://openalex.org/W2569881884","https://openalex.org/W2583430860","https://openalex.org/W2625944154","https://openalex.org/W2738870766","https://openalex.org/W2753455365","https://openalex.org/W2753888956","https://openalex.org/W2772996385","https://openalex.org/W2783635868","https://openalex.org/W2789415451","https://openalex.org/W2797097188","https://openalex.org/W2810316496","https://openalex.org/W2863106311","https://openalex.org/W2884221702","https://openalex.org/W2925163165","https://openalex.org/W2948894702","https://openalex.org/W2968991355","https://openalex.org/W2998534312","https://openalex.org/W3003335319","https://openalex.org/W3043313889","https://openalex.org/W3135190140","https://openalex.org/W3144823186","https://openalex.org/W3175462082","https://openalex.org/W3205626418","https://openalex.org/W4231234912","https://openalex.org/W4234057804","https://openalex.org/W4399469378"],"related_works":["https://openalex.org/W2007221537","https://openalex.org/W126060250","https://openalex.org/W2490690736","https://openalex.org/W2099333796","https://openalex.org/W1999058329","https://openalex.org/W2080330449","https://openalex.org/W2169474978","https://openalex.org/W2028594013","https://openalex.org/W4312441773","https://openalex.org/W4312387150"],"abstract_inverted_index":{"Legged":[0],"robots":[1,67,81],"have":[2],"great":[3],"potential":[4],"to":[5,31,54,160],"be":[6,132],"extraterrestrial":[7,24],"exploration":[8],"rovers":[9],"of":[10,17,23,34,48,58,65,79,92,143,152,168],"extraordinary":[11],"versatility.":[12],"Minimizing":[13],"power":[14,46,63,76,98,112,129,153,164],"consumption":[15,47,64,77,113,130,154,165],"is":[16,85,108,122],"vital":[18],"importance":[19],"in":[20,71],"the":[21,32,45,56,62,90,93,104,128,136,141,145,150,162],"scenarios":[22],"explorations.":[25],"The":[26,75,110],"actuation":[27,59,83,94,120,137,147],"pattern,":[28],"which":[29,102,157],"refers":[30],"combination":[33],"necessary":[35],"actuators":[36],"that":[37,68,127],"output":[38],"torque,":[39],"has":[40],"a":[41,72],"significant":[42],"influence":[43],"on":[44,61,88,96],"legged":[49,66,80,169],"robots.":[50,170],"This":[51],"article":[52],"seeks":[53],"investigate":[55],"effect":[57,91],"patterns":[60,84,121],"perform":[69],"motion":[70,166],"quasi-static":[73],"manner.":[74],"model":[78],"considering":[82],"deduced.":[86],"Based":[87],"that,":[89],"pattern":[95,138,148],"mechanical":[97],"and":[99],"heat":[100],"power,":[101],"are":[103,155,158],"main":[105],"power-loss":[106],"terms,":[107],"investigated.":[109,123],"lowest":[111],"under":[114],"various":[115],"conditions":[116],"achieved":[117],"by":[118,134],"different":[119],"Simulation":[124],"results":[125],"show":[126],"can":[131],"reduced":[133],"choosing":[135],"properly.":[139],"Furthermore,":[140],"principles":[142],"selecting":[144],"optimal":[146],"from":[149],"perspective":[151],"summarized,":[156],"expected":[159],"facilitate":[161],"minimal":[163],"planning":[167]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
