{"id":"https://openalex.org/W4220880785","doi":"https://doi.org/10.3390/robotics11020039","title":"Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial\u2013Parallel Robot with Compliant Agile Legs","display_name":"Mechanical Design and Analysis of a Novel Three-Legged, Compact, Lightweight, Omnidirectional, Serial\u2013Parallel Robot with Compliant Agile Legs","publication_year":2022,"publication_date":"2022-03-24","ids":{"openalex":"https://openalex.org/W4220880785","doi":"https://doi.org/10.3390/robotics11020039"},"language":"en","primary_location":{"id":"doi:10.3390/robotics11020039","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020039","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.3390/robotics11020039","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016834610","display_name":"David Feller","orcid":"https://orcid.org/0000-0002-8594-3424"},"institutions":[{"id":"https://openalex.org/I43980791","display_name":"Clausthal University of Technology","ror":"https://ror.org/04qb8nc58","country_code":"DE","type":"education","lineage":["https://openalex.org/I43980791"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"David Feller","raw_affiliation_strings":["Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany"],"raw_orcid":"https://orcid.org/0000-0002-8594-3424","affiliations":[{"raw_affiliation_string":"Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany","institution_ids":["https://openalex.org/I43980791"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084763647","display_name":"Christian Siemers","orcid":null},"institutions":[{"id":"https://openalex.org/I43980791","display_name":"Clausthal University of Technology","ror":"https://ror.org/04qb8nc58","country_code":"DE","type":"education","lineage":["https://openalex.org/I43980791"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Siemers","raw_affiliation_strings":["Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Electrical Information Technology, Clausthal University of Technology, D-38678 Clausthal-Zellerfeld, Germany","institution_ids":["https://openalex.org/I43980791"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5016834610"],"corresponding_institution_ids":["https://openalex.org/I43980791"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":1.2263,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.75740589,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"11","issue":"2","first_page":"39","last_page":"39"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9991000294685364,"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":0.9990000128746033,"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/robot","display_name":"Robot","score":0.6140446066856384},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.6137349605560303},{"id":"https://openalex.org/keywords/cad","display_name":"CAD","score":0.512505292892456},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.5110455751419067},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.472066193819046},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.4648866355419159},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4458850622177124},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.4439365863800049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43217596411705017},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4148687720298767},{"id":"https://openalex.org/keywords/engineering-drawing","display_name":"Engineering drawing","score":0.33555281162261963},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16722983121871948}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6140446066856384},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.6137349605560303},{"id":"https://openalex.org/C194789388","wikidata":"https://www.wikidata.org/wiki/Q17855283","display_name":"CAD","level":2,"score":0.512505292892456},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.5110455751419067},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.472066193819046},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.4648866355419159},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4458850622177124},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.4439365863800049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43217596411705017},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4148687720298767},{"id":"https://openalex.org/C199639397","wikidata":"https://www.wikidata.org/wiki/Q1788588","display_name":"Engineering drawing","level":1,"score":0.33555281162261963},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16722983121871948},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics11020039","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020039","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:9c76311782484fb7ad31cfdde806e137","is_oa":true,"landing_page_url":"https://doaj.org/article/9c76311782484fb7ad31cfdde806e137","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 11, Iss 2, p 39 (2022)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/11/2/39/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics11020039","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 11; Issue 2; Pages: 39","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics11020039","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics11020039","pdf_url":null,"source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","score":0.5099999904632568,"id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1555634426","https://openalex.org/W1945123189","https://openalex.org/W1975230295","https://openalex.org/W1987836299","https://openalex.org/W1991049204","https://openalex.org/W1993464689","https://openalex.org/W2008342119","https://openalex.org/W2041368296","https://openalex.org/W2061063863","https://openalex.org/W2065071723","https://openalex.org/W2070917084","https://openalex.org/W2078139367","https://openalex.org/W2086587468","https://openalex.org/W2110811984","https://openalex.org/W2111904757","https://openalex.org/W2138671676","https://openalex.org/W2144682848","https://openalex.org/W2156150946","https://openalex.org/W2201967922","https://openalex.org/W2337224132","https://openalex.org/W2415959992","https://openalex.org/W2508706549","https://openalex.org/W2771944259","https://openalex.org/W2782854956","https://openalex.org/W2909553221","https://openalex.org/W2954300587","https://openalex.org/W2968478616","https://openalex.org/W2972798201","https://openalex.org/W3047581627","https://openalex.org/W3211274418","https://openalex.org/W4250058668","https://openalex.org/W4251420516","https://openalex.org/W6676434310","https://openalex.org/W6676785819"],"related_works":["https://openalex.org/W2334610590","https://openalex.org/W2320366403","https://openalex.org/W3204197061","https://openalex.org/W4251350712","https://openalex.org/W637098845","https://openalex.org/W2394326850","https://openalex.org/W2351802510","https://openalex.org/W2375758231","https://openalex.org/W2379364158","https://openalex.org/W2314865979"],"abstract_inverted_index":{"In":[0],"this":[1],"work,":[2],"the":[3,31,35,39,49,55,59,63,67,112,118,123],"concept":[4],"and":[5,98,106],"mechanical":[6,36,60,119],"design":[7,32],"of":[8,34,38,51,58,66],"a":[9,17,71,75,88,103],"novel":[10],"compact,":[11],"lightweight,":[12],"omnidirectional":[13],"three-legged":[14],"robot,":[15],"featuring":[16],"hybrid":[18],"serial\u2013parallel":[19],"topology":[20],"including":[21],"leg":[22,78,114],"compliance":[23],"is":[24,79],"proposed.":[25],"The":[26],"proposal":[27],"focusses":[28],"deeply":[29],"on":[30,42,111],"aspects":[33],"realisation":[37],"robot":[40,68,77],"based":[41],"its":[43],"3D-CAD":[44],"assembly,":[45],"while":[46],"also":[47],"discussing":[48],"results":[50],"multi-body":[52],"simulations,":[53],"exploring":[54],"characteristic":[56],"properties":[57],"system,":[61],"regarding":[62],"locomotion":[64],"feasibility":[65],"model.":[69],"Finally,":[70],"real-world":[72],"prototype":[73,113],"depicting":[74],"single":[76],"presented,":[80],"which":[81],"was":[82],"built":[83],"by":[84],"highly":[85],"leaning":[86],"into":[87],"composite":[89],"design,":[90],"combining":[91],"complex":[92],"3D-printed":[93],"parts":[94],"with":[95],"stiff":[96],"aluminium":[97],"polycarbonate":[99],"parts,":[100],"allowing":[101],"for":[102],"mechanically":[104],"dense":[105],"slim":[107],"construction.":[108],"Eventually,":[109],"experiments":[110],"are":[115],"demonstrated,":[116],"showing":[117],"model":[120],"operating":[121],"in":[122],"real":[124],"world.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2022-04-03T00:00:00"}
