{"id":"https://openalex.org/W2601610124","doi":"https://doi.org/10.1561/2300000044","title":"Design of Dynamic Legged Robots","display_name":"Design of Dynamic Legged Robots","publication_year":2017,"publication_date":"2017-03-20","ids":{"openalex":"https://openalex.org/W2601610124","doi":"https://doi.org/10.1561/2300000044","mag":"2601610124"},"language":"en","primary_location":{"id":"doi:10.1561/2300000044","is_oa":false,"landing_page_url":"https://doi.org/10.1561/2300000044","pdf_url":null,"source":{"id":"https://openalex.org/S43319301","display_name":"Foundations and Trends in Robotics","issn_l":"1935-8253","issn":["1935-8253","1935-8261"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318575","host_organization_name":"Now Publishers","host_organization_lineage":["https://openalex.org/P4310318575"],"host_organization_lineage_names":["Now Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Foundations and Trends\u00ae in 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/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Massachusetts Institute of Technology ,","Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology ,","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029126529","display_name":"Patrick M. Wensing","orcid":"https://orcid.org/0000-0002-9041-5175"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Patrick M. Wensing","raw_affiliation_strings":["Massachusetts Institute of Technology ,","Massachusetts Institute of Technology, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology ,","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.5479,"has_fulltext":false,"cited_by_count":80,"citation_normalized_percentile":{"value":0.89151124,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"5","issue":"2","first_page":"117","last_page":"190"},"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":0.994700014591217,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.6980302333831787},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.653396487236023},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6470953226089478},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.528376579284668},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.527431070804596},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5047158002853394},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.38807642459869385},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3296622633934021},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3275038003921509},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.09202471375465393}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6980302333831787},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.653396487236023},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6470953226089478},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.528376579284668},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.527431070804596},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5047158002853394},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.38807642459869385},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3296622633934021},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3275038003921509},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.09202471375465393},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1561/2300000044","is_oa":false,"landing_page_url":"https://doi.org/10.1561/2300000044","pdf_url":null,"source":{"id":"https://openalex.org/S43319301","display_name":"Foundations and Trends in Robotics","issn_l":"1935-8253","issn":["1935-8253","1935-8261"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318575","host_organization_name":"Now Publishers","host_organization_lineage":["https://openalex.org/P4310318575"],"host_organization_lineage_names":["Now Publishers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Foundations and Trends\u00ae in Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","score":0.7300000190734863,"display_name":"Life below water"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":142,"referenced_works":["https://openalex.org/W105522390","https://openalex.org/W152725453","https://openalex.org/W181719118","https://openalex.org/W350499458","https://openalex.org/W1502718064","https://openalex.org/W1517385989","https://openalex.org/W1521257674","https://openalex.org/W1545542339","https://openalex.org/W1596218917","https://openalex.org/W1596567109","https://openalex.org/W1601704323","https://openalex.org/W1607633572","https://openalex.org/W1619551699","https://openalex.org/W1789658038","https://openalex.org/W1802984224","https://openalex.org/W1822001265","https://openalex.org/W1853143499","https://openalex.org/W1967377907","https://openalex.org/W1969570716","https://openalex.org/W1971175227","https://openalex.org/W1975230295","https://openalex.org/W1978347628","https://openalex.org/W1980780059","https://openalex.org/W1981225035","https://openalex.org/W1981918565","https://openalex.org/W1985875375","https://openalex.org/W1986621758","https://openalex.org/W1988089745","https://openalex.org/W1988746402","https://openalex.org/W1989901771","https://openalex.org/W1993314711","https://openalex.org/W1994513760","https://openalex.org/W1994791164","https://openalex.org/W1996555579","https://openalex.org/W1998231486","https://openalex.org/W2004207977","https://openalex.org/W2005577175","https://openalex.org/W2005805981","https://openalex.org/W2008342119","https://openalex.org/W2012752411","https://openalex.org/W2021512411","https://openalex.org/W2023392182","https://openalex.org/W2024084391","https://openalex.org/W2029058516","https://openalex.org/W2034411417","https://openalex.org/W2036484113","https://openalex.org/W2037758951","https://openalex.org/W2045083712","https://openalex.org/W2047234459","https://openalex.org/W2054186704","https://openalex.org/W2061063863","https://openalex.org/W2066646366","https://openalex.org/W2071069581","https://openalex.org/W2072625467","https://openalex.org/W2073136132","https://openalex.org/W2074206144","https://openalex.org/W2077676902","https://openalex.org/W2079407617","https://openalex.org/W2080638318","https://openalex.org/W2082297462","https://openalex.org/W2086587468","https://openalex.org/W2091279526","https://openalex.org/W2093298840","https://openalex.org/W2094496385","https://openalex.org/W2094770975","https://openalex.org/W2096178249","https://openalex.org/W2096836513","https://openalex.org/W2097838739","https://openalex.org/W2104181254","https://openalex.org/W2106848320","https://openalex.org/W2107149337","https://openalex.org/W2108890480","https://openalex.org/W2109135013","https://openalex.org/W2109502065","https://openalex.org/W2111253117","https://openalex.org/W2111904757","https://openalex.org/W2113593135","https://openalex.org/W2119778835","https://openalex.org/W2119874624","https://openalex.org/W2121829700","https://openalex.org/W2122116594","https://openalex.org/W2122827816","https://openalex.org/W2123898591","https://openalex.org/W2125095347","https://openalex.org/W2125224533","https://openalex.org/W2126728198","https://openalex.org/W2126729486","https://openalex.org/W2128131727","https://openalex.org/W2128137193","https://openalex.org/W2129224530","https://openalex.org/W2129936198","https://openalex.org/W2130117525","https://openalex.org/W2130329603","https://openalex.org/W2134854819","https://openalex.org/W2135406175","https://openalex.org/W2135959801","https://openalex.org/W2138671676","https://openalex.org/W2142473411","https://openalex.org/W2142639867","https://openalex.org/W2142992961","https://openalex.org/W2144834630","https://openalex.org/W2145499285","https://openalex.org/W2146122299","https://openalex.org/W2146186639","https://openalex.org/W2148365828","https://openalex.org/W2148614951","https://openalex.org/W2152691590","https://openalex.org/W2153717729","https://openalex.org/W2155109795","https://openalex.org/W2155253185","https://openalex.org/W2155357451","https://openalex.org/W2159220301","https://openalex.org/W2159593326","https://openalex.org/W2160279521","https://openalex.org/W2160555349","https://openalex.org/W2161643831","https://openalex.org/W2162189406","https://openalex.org/W2163635681","https://openalex.org/W2163665518","https://openalex.org/W2163668399","https://openalex.org/W2169706473","https://openalex.org/W2170215860","https://openalex.org/W2171570677","https://openalex.org/W2171996789","https://openalex.org/W2239166089","https://openalex.org/W2288146251","https://openalex.org/W2295130897","https://openalex.org/W2328853187","https://openalex.org/W2332920146","https://openalex.org/W2337224132","https://openalex.org/W2337991911","https://openalex.org/W2539534359","https://openalex.org/W2540393540","https://openalex.org/W2549216668","https://openalex.org/W2573227850","https://openalex.org/W2912695340","https://openalex.org/W3148638382","https://openalex.org/W3165562661","https://openalex.org/W4235469158","https://openalex.org/W4237271316","https://openalex.org/W4253875866","https://openalex.org/W4255055278"],"related_works":["https://openalex.org/W2357124094","https://openalex.org/W2387399993","https://openalex.org/W2389739210","https://openalex.org/W2348924972","https://openalex.org/W2365736347","https://openalex.org/W2047454415","https://openalex.org/W2070040999","https://openalex.org/W2387293848","https://openalex.org/W2332067308","https://openalex.org/W2028594013"],"abstract_inverted_index":{"Animals":[0],"exhibit":[1],"remarkable":[2],"locomotion":[3,85],"capabilities":[4,86,148],"across":[5],"land,":[6,17],"sea,":[7],"and":[8,95,130,169],"air":[9],"in":[10,73,87,123,128,162,192,207],"every":[11],"corner":[12],"of":[13,30,66,97,138,149,181],"the":[14,33,45,53,62,132,146,178,185,198],"world.":[15],"On":[16],"legged":[18,88,112,152,182],"morphologies":[19],"have":[20,77],"evolved":[21],"to":[22,35,44,81,125,141,187],"manifest":[23],"magnificent":[24],"mobility":[25],"over":[26],"a":[27,40,50,135,155],"wide":[28],"range":[29],"surfaces.":[31],"From":[32],"ability":[34],"use":[36],"footholds":[37],"for":[38,47,79,107,134],"navigating":[39],"challenging":[41],"mountain":[42],"pass,":[43],"capacity":[46],"running":[48],"on":[49,177,224],"sandy":[51],"beach,":[52],"adaptability":[54],"afforded":[55],"through":[56,212],"legs":[57],"motivates":[58],"their":[59,225],"prominence":[60],"as":[61,195,197],"biologically":[63],"preferred":[64],"method":[65],"ground":[67],"transportation.":[68],"Inspired":[69],"by":[70,222],"these":[71,150],"achievements":[72],"nature,":[74],"robotics":[75],"engineers":[76,100],"strived":[78],"decades":[80],"achieve":[82],"similar":[83],"dynamic":[84],"machines.":[89],"Learning":[90],"from":[91],"animals\u2019":[92],"compliant":[93],"structures":[94],"ways":[96],"utilizing":[98],"them,":[99],"developed":[101],"numerous":[102],"novel":[103,193],"mechanisms":[104,194],"that":[105],"allow":[106],"more":[108,110],"dynamic,":[109],"efficient":[111],"systems.":[113],"These":[114],"newly":[115],"emerging":[116],"robotic":[117],"systems":[118],"possess":[119],"distinguishing":[120],"mechanical":[121,179,208],"characteristics":[122],"contrast":[124],"manufacturing":[126],"robots":[127,140,153],"factories":[129],"pave":[131],"way":[133],"new":[136,151],"era":[137],"mobile":[139],"serve":[142],"our":[143],"society.":[144],"Realizing":[145],"full":[147],"is":[154],"multi-factorial":[156],"research":[157],"problem,":[158],"requiring":[159],"coordinated":[160],"advances":[161,191],"design,":[163],"control,":[164],"perception,":[165],"state":[166],"estimation,":[167],"navigation":[168],"other":[170],"areas.":[171],"This":[172],"review":[173],"article":[174],"concentrates":[175],"particularly":[176],"design":[180,209,216],"robots,":[183],"with":[184],"aim":[186],"inform":[188],"both":[189],"future":[190,226],"well":[196],"coupled":[199],"problems":[200],"described":[201],"above.":[202],"Essential":[203],"technological":[204],"components":[205],"considered":[206],"are":[210,218],"discussed":[211],"historical":[213],"review.":[214],"Emerging":[215],"paradigms":[217],"then":[219],"presented,":[220],"followed":[221],"perspectives":[223],"applications.":[227]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":10},{"year":2018,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}