{"id":"https://openalex.org/W3044242977","doi":"https://doi.org/10.1109/ur49135.2020.9144799","title":"Optimized Jumping of an Articulated Robotic Leg","display_name":"Optimized Jumping of an Articulated Robotic Leg","publication_year":2020,"publication_date":"2020-06-01","ids":{"openalex":"https://openalex.org/W3044242977","doi":"https://doi.org/10.1109/ur49135.2020.9144799","mag":"3044242977"},"language":"en","primary_location":{"id":"doi:10.1109/ur49135.2020.9144799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur49135.2020.9144799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 17th International Conference on Ubiquitous Robots (UR)","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/A5035315520","display_name":"Junjie Shen","orcid":"https://orcid.org/0000-0002-0449-1463"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Junjie Shen","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064602564","display_name":"Yeting Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yeting Liu","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100408509","display_name":"Xiaoguang Zhang","orcid":"https://orcid.org/0000-0002-8198-6814"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiaoguang Zhang","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[{"id":"https://openalex.org/I161318765","display_name":"University of California, Los Angeles","ror":"https://ror.org/046rm7j60","country_code":"US","type":"education","lineage":["https://openalex.org/I161318765"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Robotics and Mechanisms Laboratory, University of California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I161318765"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5035315520"],"corresponding_institution_ids":["https://openalex.org/I161318765","https://openalex.org/I4210116723"],"apc_list":null,"apc_paid":null,"fwci":0.8583,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.70181506,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"205","last_page":"212"},"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":0.9976000189781189,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9686999917030334,"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/jumping","display_name":"Jumping","score":0.9661515355110168},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6931843757629395},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.619559645652771},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.603413462638855},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5609259009361267},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5436462759971619},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5398885607719421},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4972703754901886},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4493362307548523},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4453672170639038},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42574605345726013},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41626057028770447},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33348309993743896},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3165157437324524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2320762276649475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07634207606315613}],"concepts":[{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.9661515355110168},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6931843757629395},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.619559645652771},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.603413462638855},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5609259009361267},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5436462759971619},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5398885607719421},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4972703754901886},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4493362307548523},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4453672170639038},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42574605345726013},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41626057028770447},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33348309993743896},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3165157437324524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2320762276649475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07634207606315613},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ur49135.2020.9144799","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ur49135.2020.9144799","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 17th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1975230295","https://openalex.org/W1981225035","https://openalex.org/W1981918565","https://openalex.org/W2029058516","https://openalex.org/W2074154222","https://openalex.org/W2085746528","https://openalex.org/W2098484883","https://openalex.org/W2111253117","https://openalex.org/W2125224533","https://openalex.org/W2142992961","https://openalex.org/W2153551999","https://openalex.org/W2158641070","https://openalex.org/W2161427949","https://openalex.org/W2295130897","https://openalex.org/W2573227850","https://openalex.org/W2767578104","https://openalex.org/W2773451156","https://openalex.org/W2909553221","https://openalex.org/W2910682052","https://openalex.org/W2911571360","https://openalex.org/W2968764556","https://openalex.org/W2980792850","https://openalex.org/W4242875786","https://openalex.org/W4250058668","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W648845647","https://openalex.org/W2381882558","https://openalex.org/W4388849567","https://openalex.org/W2486266915","https://openalex.org/W964501512","https://openalex.org/W4285089922","https://openalex.org/W3005657145","https://openalex.org/W2102380529","https://openalex.org/W4319297798","https://openalex.org/W1643150164"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,39,93],"nonlinear":[4],"programming":[5],"(NLP)":[6],"formulation":[7],"intended":[8],"for":[9,54,97],"the":[10,19,25],"trajectory":[11],"optimization":[12],"of":[13,42,58,82],"legged":[14,98],"robot":[15,27],"jumping":[16,43,55,88,95],"applications":[17],"during":[18],"stance":[20],"phase,":[21],"taking":[22],"into":[23],"consideration":[24],"detailed":[26],"model,":[28],"actuator":[29],"capability,":[30],"terrain":[31],"condition,":[32],"etc.":[33],"The":[34,71],"method":[35],"is":[36,80],"applicable":[37],"to":[38],"wide":[40],"class":[41],"robots":[44],"and":[45,73],"was":[46],"successfully":[47],"implemented":[48],"on":[49],"an":[50],"articulated":[51],"robotic":[52],"leg":[53],"in":[56],"terms":[57],"maximum":[59],"reachable":[60],"height,":[61],"minimum":[62],"energy":[63,69],"consumption,":[64],"as":[65,67],"well":[66],"optimum":[68],"efficiency.":[70],"simulation":[72],"experimental":[74],"results":[75],"demonstrate":[76],"that":[77],"this":[78],"approach":[79],"capable":[81],"not":[83],"only":[84],"planning":[85],"one":[86],"single":[87],"trajectory,":[89],"but":[90],"also":[91],"designing":[92],"periodic":[94],"gait":[96],"robots.":[99]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
