{"id":"https://openalex.org/W2738173023","doi":"https://doi.org/10.1177/0278364917720019","title":"Design and modeling of linearly-constrained compliant spines for human-scale locomotion on rocky surfaces","display_name":"Design and modeling of linearly-constrained compliant spines for human-scale locomotion on rocky surfaces","publication_year":2017,"publication_date":"2017-07-21","ids":{"openalex":"https://openalex.org/W2738173023","doi":"https://doi.org/10.1177/0278364917720019","mag":"2738173023"},"language":"en","primary_location":{"id":"doi:10.1177/0278364917720019","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917720019","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5100398998","display_name":"Shiquan Wang","orcid":"https://orcid.org/0000-0003-3245-4579"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shiquan Wang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100712109","display_name":"Hao Jiang","orcid":"https://orcid.org/0000-0003-4477-529X"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hao Jiang","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046683404","display_name":"Mark R. Cutkosky","orcid":"https://orcid.org/0000-0003-4730-0900"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Mark R Cutkosky","raw_affiliation_strings":["Department of Mechanical Engineering, Stanford University, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Stanford University, USA","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100398998"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.6155,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.89660334,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"36","issue":"9","first_page":"985","last_page":"999"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T10879","display_name":"Robotic Locomotion and Control","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9973000288009644,"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":0.9957000017166138,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6684356927871704},{"id":"https://openalex.org/keywords/spine","display_name":"SPINE (molecular biology)","score":0.6413072347640991},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5762839913368225},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5713193416595459},{"id":"https://openalex.org/keywords/shear","display_name":"Shear (geology)","score":0.49463650584220886},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.49148499965667725},{"id":"https://openalex.org/keywords/bending","display_name":"Bending","score":0.4884261190891266},{"id":"https://openalex.org/keywords/backlash","display_name":"Backlash","score":0.4842669367790222},{"id":"https://openalex.org/keywords/climbing","display_name":"Climbing","score":0.4823967218399048},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.43725860118865967},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43657511472702026},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.418655127286911},{"id":"https://openalex.org/keywords/bracing","display_name":"Bracing","score":0.4163249731063843},{"id":"https://openalex.org/keywords/brace","display_name":"Brace","score":0.3304790258407593},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3175029456615448},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24144381284713745},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2176627814769745},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11766853928565979}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6684356927871704},{"id":"https://openalex.org/C205383261","wikidata":"https://www.wikidata.org/wiki/Q7392570","display_name":"SPINE (molecular biology)","level":2,"score":0.6413072347640991},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5762839913368225},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5713193416595459},{"id":"https://openalex.org/C96035792","wikidata":"https://www.wikidata.org/wiki/Q43606218","display_name":"Shear (geology)","level":2,"score":0.49463650584220886},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.49148499965667725},{"id":"https://openalex.org/C87210426","wikidata":"https://www.wikidata.org/wiki/Q1072476","display_name":"Bending","level":2,"score":0.4884261190891266},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.4842669367790222},{"id":"https://openalex.org/C95038775","wikidata":"https://www.wikidata.org/wiki/Q22857","display_name":"Climbing","level":2,"score":0.4823967218399048},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.43725860118865967},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43657511472702026},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.418655127286911},{"id":"https://openalex.org/C2777905996","wikidata":"https://www.wikidata.org/wiki/Q32500556","display_name":"Bracing","level":3,"score":0.4163249731063843},{"id":"https://openalex.org/C2779793219","wikidata":"https://www.wikidata.org/wiki/Q2662870","display_name":"Brace","level":2,"score":0.3304790258407593},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3175029456615448},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24144381284713745},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2176627814769745},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11766853928565979},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C153911025","wikidata":"https://www.wikidata.org/wiki/Q7202","display_name":"Molecular biology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C5900021","wikidata":"https://www.wikidata.org/wiki/Q163082","display_name":"Petrology","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364917720019","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364917720019","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1517802146","https://openalex.org/W1550420376","https://openalex.org/W1572242294","https://openalex.org/W1588834047","https://openalex.org/W1953078217","https://openalex.org/W1963492753","https://openalex.org/W1970427609","https://openalex.org/W1985283556","https://openalex.org/W1993017363","https://openalex.org/W1993474705","https://openalex.org/W2002804012","https://openalex.org/W2003113658","https://openalex.org/W2010114052","https://openalex.org/W2011538315","https://openalex.org/W2018430769","https://openalex.org/W2023820973","https://openalex.org/W2032804417","https://openalex.org/W2049751180","https://openalex.org/W2068014991","https://openalex.org/W2114924842","https://openalex.org/W2131865991","https://openalex.org/W2131945542","https://openalex.org/W2132420930","https://openalex.org/W2133200446","https://openalex.org/W2165739402","https://openalex.org/W2167088510","https://openalex.org/W2169836568","https://openalex.org/W2214245202","https://openalex.org/W2296187168","https://openalex.org/W2545385919","https://openalex.org/W2564265104","https://openalex.org/W2601523558","https://openalex.org/W3125963642","https://openalex.org/W4235469158"],"related_works":["https://openalex.org/W2029777928","https://openalex.org/W637704994","https://openalex.org/W2363535978","https://openalex.org/W2609281610","https://openalex.org/W3199782754","https://openalex.org/W1989215188","https://openalex.org/W4385789148","https://openalex.org/W3013143954","https://openalex.org/W2392867040","https://openalex.org/W2609282462"],"abstract_inverted_index":{"We":[0,62],"present":[1,63],"a":[2,51,131,134,147],"new":[3],"spine":[4,21,43,54,58,102,126],"solution":[5,39,72],"for":[6,46,92,133,155],"the":[7,26,99,112,156],"locomotion":[8],"of":[9,75,78,101,119,125],"human-scale":[10,82],"robots":[11,48,83,141],"on":[12],"steep,":[13],"rocky":[14],"surfaces,":[15],"known":[16],"as":[17],"linearly-constrained":[18],"spines.":[19],"The":[20,38,96],"stiffness":[22],"is":[23,73],"low":[24],"in":[25,49,116,153],"normal":[27],"direction":[28],"but":[29],"high":[30],"with":[31],"respect":[32],"to":[33,68,84,88,110,142],"lateral":[34],"and":[35,56,65,106,122,146],"bending":[36],"loads.":[37],"differs":[40],"from":[41],"previous":[42],"arrays":[44],"used":[45],"small":[47],"having":[50],"much":[52],"higher":[53],"density":[55],"less":[57],"scraping":[59],"over":[60,79,151],"asperities.":[61],"theoretical":[64],"empirical":[66],"results":[67],"demonstrate":[69],"that":[70,149],"this":[71],"capable":[74],"shear":[76,154],"stresses":[77],"200kPa,":[80],"enabling":[81],"apply":[85],"forces":[86,114],"parallel":[87],"steep":[89,144],"rock":[90],"surfaces":[91],"climbing,":[93],"bracing,":[94],"etc.":[95],"analysis":[97],"includes":[98],"effects":[100],"geometry,":[103],"stiffness,":[104],"backlash":[105],"three-dimensional":[107],"loading":[108],"angle":[109],"predict":[111],"overall":[113],"possible":[115],"three":[117],"dimensions":[118],"both":[120],"single":[121],"opposed":[123],"configurations":[124],"arrays.":[127],"Demonstrated":[128],"applications":[129],"include":[130],"gripper":[132],"\u201csmart":[135],"staff\u201d":[136],"aimed":[137],"at":[138],"helping":[139],"humanoid":[140],"negotiate":[143],"terrain":[145],"palm":[148],"provides":[150],"700N":[152],"RoboSimian":[157],"quadruped.":[158]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":4},{"year":2022,"cited_by_count":10},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":6},{"year":2017,"cited_by_count":1}],"updated_date":"2026-03-23T07:41:27.035349","created_date":"2025-10-10T00:00:00"}
