{"id":"https://openalex.org/W2774802628","doi":"https://doi.org/10.1109/iros.2017.8206251","title":"FLEGX: A bioinspired design for a jumping humanoid leg","display_name":"FLEGX: A bioinspired design for a jumping humanoid leg","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2774802628","doi":"https://doi.org/10.1109/iros.2017.8206251","mag":"2774802628"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://iris.polito.it/bitstream/11583/2697633/1/2017-IROS-DImperio-Final.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066685976","display_name":"Mariapaola D\u2019Imperio","orcid":"https://orcid.org/0000-0002-6649-5320"},"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":true,"raw_author_name":"Mariapaola D'Imperio","raw_affiliation_strings":["ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074953498","display_name":"Daniele Ludovico","orcid":"https://orcid.org/0000-0003-0831-6459"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Ludovico","raw_affiliation_strings":["DIMEAS, Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"DIMEAS, Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015203151","display_name":"Cristiano Pizzamiglio","orcid":"https://orcid.org/0000-0002-5782-4794"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Polytechnic University of Turin","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristiano Pizzamiglio","raw_affiliation_strings":["DIMEAS, Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy"],"affiliations":[{"raw_affiliation_string":"DIMEAS, Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Turin, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058024285","display_name":"C. Canali","orcid":"https://orcid.org/0000-0001-8366-7334"},"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":"Carlo Canali","raw_affiliation_strings":["ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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 Caldwell","raw_affiliation_strings":["ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065930752","display_name":"Ferdinando Cannella","orcid":"https://orcid.org/0000-0001-7602-1850"},"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":"Ferdinando Cannella","raw_affiliation_strings":["ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"ADVR, Advanced Robotics Department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5066685976"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.17934,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9988999962806702,"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":0.9977999925613403,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8471579551696777},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.835046648979187},{"id":"https://openalex.org/keywords/jumping","display_name":"Jumping","score":0.7622711658477783},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6578819155693054},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.635021984577179},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6151005029678345},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5657770037651062},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5613068342208862},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4934617578983307},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44771164655685425},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.41106587648391724},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08199527859687805},{"id":"https://openalex.org/keywords/computer-security","display_name":"Computer security","score":0.0745699405670166}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8471579551696777},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.835046648979187},{"id":"https://openalex.org/C2779897013","wikidata":"https://www.wikidata.org/wiki/Q1151752","display_name":"Jumping","level":2,"score":0.7622711658477783},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6578819155693054},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.635021984577179},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6151005029678345},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5657770037651062},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5613068342208862},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4934617578983307},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44771164655685425},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.41106587648391724},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08199527859687805},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0745699405670166},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206251","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206251","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:porto.polito.it:2697633","is_oa":true,"landing_page_url":"http://porto.polito.it/2697633/","pdf_url":"https://iris.polito.it/bitstream/11583/2697633/1/2017-IROS-DImperio-Final.pdf","source":{"id":"https://openalex.org/S4306402038","display_name":"PORTO Publications Open Repository TOrino (Politecnico di Torino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177477856","host_organization_name":"Politecnico di Torino","host_organization_lineage":["https://openalex.org/I177477856"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:porto.polito.it:2697633","is_oa":true,"landing_page_url":"http://porto.polito.it/2697633/","pdf_url":"https://iris.polito.it/bitstream/11583/2697633/1/2017-IROS-DImperio-Final.pdf","source":{"id":"https://openalex.org/S4306402038","display_name":"PORTO Publications Open Repository TOrino (Politecnico di Torino)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I177477856","host_organization_name":"Politecnico di Torino","host_organization_lineage":["https://openalex.org/I177477856"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.6100000143051147,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2774802628.pdf","grobid_xml":"https://content.openalex.org/works/W2774802628.grobid-xml"},"referenced_works_count":14,"referenced_works":["https://openalex.org/W71372606","https://openalex.org/W1485346879","https://openalex.org/W1515749184","https://openalex.org/W1887796341","https://openalex.org/W1895543461","https://openalex.org/W1968965068","https://openalex.org/W1979445726","https://openalex.org/W2035673769","https://openalex.org/W2041082670","https://openalex.org/W2073737169","https://openalex.org/W2140219725","https://openalex.org/W2318049855","https://openalex.org/W2540393540","https://openalex.org/W2560658338"],"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/W2102267190","https://openalex.org/W1995093229","https://openalex.org/W2363955986","https://openalex.org/W2436652189","https://openalex.org/W2771603124"],"abstract_inverted_index":{"Robotics":[0],"in":[1,10,36,47],"the":[2,18,41,48,65,70,83,88,118,121],"last":[3],"decades":[4],"is":[5],"moving":[6,35],"towards":[7],"bioinspired":[8],"solutions":[9],"order":[11],"to":[12,31,54,57,103],"develop":[13],"systems":[14],"increasingly":[15],"integrated":[16],"with":[17],"human":[19],"environment.":[20],"Among":[21],"them,":[22],"legged":[23],"robots":[24,51],"fascinates":[25],"more":[26,28],"and":[27,93],"researchers":[29],"thanks":[30,102],"their":[32],"ability":[33],"of":[34,44,67,96,107,113,120,130],"unstructured":[37],"environment":[38],"such":[39],"as":[40],"ones":[42],"typical":[43],"earthquakes,":[45],"where":[46],"near":[49],"future":[50,131],"are":[52],"planned":[53],"be":[55,127],"send":[56],"help":[58],"humans":[59],"while":[60],"performing":[61],"dangerous":[62],"tasks.":[63],"On":[64],"base":[66],"this":[68,97],"findings,":[69],"authors":[71],"propose":[72],"a":[73,77,104,128],"novel":[74],"concept":[75],"for":[76,117],"jumping":[78],"humanoid":[79],"leg,":[80],"based":[81],"on":[82],"key":[84],"role":[85],"played":[86],"from":[87],"structural":[89],"flexibility.":[90],"The":[91],"geometric":[92],"dynamic":[94],"features":[95],"leg":[98],"have":[99],"been":[100],"selected":[101],"targeted":[105],"set":[106],"numerical":[108,122],"simulations.":[109],"An":[110],"extensive":[111],"campaign":[112],"experimental":[114],"tests":[115],"useful":[116],"validation":[119],"model":[123],"here":[124],"presented":[125],"will":[126],"matter":[129],"works.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
