{"id":"https://openalex.org/W2553390108","doi":"https://doi.org/10.1109/urai.2016.7734031","title":"Formulation of posture optimization for multi-legged robot via eigen decomposition of stiffness matrix","display_name":"Formulation of posture optimization for multi-legged robot via eigen decomposition of stiffness matrix","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2553390108","doi":"https://doi.org/10.1109/urai.2016.7734031","mag":"2553390108"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2016.7734031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5027410770","display_name":"Xuan Lin","orcid":"https://orcid.org/0000-0001-7216-1821"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xuan Lin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa-(Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa-(Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa-(Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa-(Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"6 2","issue":null,"first_page":"104","last_page":"108"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9918000102043152,"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/computation","display_name":"Computation","score":0.6290532350540161},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5984095931053162},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5962772369384766},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5919830799102783},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.5663766860961914},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.5427326560020447},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4959655702114105},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.47439268231391907},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.4692644476890564},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4563518166542053},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4458761215209961},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.4334949851036072},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4306350648403168},{"id":"https://openalex.org/keywords/direct-stiffness-method","display_name":"Direct stiffness method","score":0.42966538667678833},{"id":"https://openalex.org/keywords/matrix-decomposition","display_name":"Matrix decomposition","score":0.41083893179893494},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3980940282344818},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.23927384614944458},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16507777571678162},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1513843536376953},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10399913787841797},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07974889874458313},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06965091824531555}],"concepts":[{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.6290532350540161},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5984095931053162},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5962772369384766},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5919830799102783},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.5663766860961914},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.5427326560020447},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4959655702114105},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.47439268231391907},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.4692644476890564},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4563518166542053},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4458761215209961},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.4334949851036072},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4306350648403168},{"id":"https://openalex.org/C6213913","wikidata":"https://www.wikidata.org/wiki/Q2280635","display_name":"Direct stiffness method","level":4,"score":0.42966538667678833},{"id":"https://openalex.org/C42355184","wikidata":"https://www.wikidata.org/wiki/Q1361088","display_name":"Matrix decomposition","level":3,"score":0.41083893179893494},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3980940282344818},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.23927384614944458},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16507777571678162},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1513843536376953},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10399913787841797},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07974889874458313},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06965091824531555},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2016.7734031","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2016.7734031","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 13th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1993769327","https://openalex.org/W2005762064","https://openalex.org/W2026540717","https://openalex.org/W2063955941","https://openalex.org/W2104715548","https://openalex.org/W2115659120","https://openalex.org/W2133377284","https://openalex.org/W4234057804"],"related_works":["https://openalex.org/W4320729678","https://openalex.org/W2390321940","https://openalex.org/W2973242061","https://openalex.org/W4285592458","https://openalex.org/W3156227670","https://openalex.org/W2369577243","https://openalex.org/W2146054500","https://openalex.org/W2153377729","https://openalex.org/W2354675927","https://openalex.org/W2044671381"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3],"different":[4],"way":[5],"to":[6,34,47,63,68],"formulate":[7],"the":[8,25,37,55,65,81,85],"posture":[9],"optimization":[10],"problem":[11],"for":[12,36],"multi-legged":[13],"robot,":[14],"which":[15,41,95],"tackles":[16],"general":[17],"contact":[18,27,39],"force":[19],"constraint":[20,90],"and":[21,67],"takes":[22],"into":[23,91],"account":[24],"indeterminate":[26,38],"force.":[28],"The":[29],"stiffness":[30,56],"matrix":[31],"is":[32,42],"considered":[33],"solve":[35],"force,":[40],"never":[43],"done":[44],"before":[45],"due":[46],"its":[48,61],"complexity.":[49],"Instead":[50],"of":[51],"optimizing":[52],"directly":[53],"over":[54,60],"matrix,":[57],"we":[58],"optimize":[59],"eigenvalues":[62],"simplify":[64],"problem,":[66],"reveal":[69],"physical":[70],"intuition":[71],"behind":[72],"it.":[73],"It":[74],"turns":[75],"out":[76],"that,":[77],"with":[78],"proper":[79],"assumption,":[80],"new":[82],"formulation":[83],"reduces":[84],"traditionally":[86],"tough":[87],"static":[88],"equilibrium":[89],"easier":[92],"convex":[93],"constraint,":[94],"enables":[96],"fast":[97],"online":[98],"computation.":[99]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}