{"id":"https://openalex.org/W2517997819","doi":"https://doi.org/10.5220/0005986502050212","title":"Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg","display_name":"Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg","publication_year":2016,"publication_date":"2016-01-01","ids":{"openalex":"https://openalex.org/W2517997819","doi":"https://doi.org/10.5220/0005986502050212","mag":"2517997819"},"language":"en","primary_location":{"id":"doi:10.5220/0005986502050212","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005986502050212","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.5220/0005986502050212","any_repository_has_fulltext":null},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070252862","display_name":"Navvab Kashiri","orcid":"https://orcid.org/0000-0002-1219-2447"},"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":"Navvab Kashiri","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"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":"Arash Ajoudani","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, 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 G. Caldwell","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"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":"Nikos G. Tsagarakis","raw_affiliation_strings":["Istituto Italiano di Tecnologia, Italy"],"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5070252862"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.3419,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.6362802,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"205","last_page":"212"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9623000025749207,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9574000239372253,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7279136776924133},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7225462794303894},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6053580045700073},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5719321370124817},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.46970006823539734},{"id":"https://openalex.org/keywords/thrust","display_name":"Thrust","score":0.4682791233062744},{"id":"https://openalex.org/keywords/polygon","display_name":"Polygon (computer graphics)","score":0.4636000692844391},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4136126935482025},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33843106031417847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27049362659454346},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2629317045211792},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17828625440597534},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09304144978523254},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07623648643493652}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7279136776924133},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7225462794303894},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6053580045700073},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5719321370124817},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.46970006823539734},{"id":"https://openalex.org/C79420006","wikidata":"https://www.wikidata.org/wiki/Q533668","display_name":"Thrust","level":2,"score":0.4682791233062744},{"id":"https://openalex.org/C190694206","wikidata":"https://www.wikidata.org/wiki/Q3276654","display_name":"Polygon (computer graphics)","level":3,"score":0.4636000692844391},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4136126935482025},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33843106031417847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27049362659454346},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2629317045211792},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17828625440597534},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09304144978523254},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07623648643493652},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.5220/0005986502050212","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005986502050212","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"}],"best_oa_location":{"id":"doi:10.5220/0005986502050212","is_oa":true,"landing_page_url":"https://doi.org/10.5220/0005986502050212","pdf_url":null,"source":null,"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics","raw_type":"proceedings-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1510405023","https://openalex.org/W2005471069","https://openalex.org/W2010618743","https://openalex.org/W1880935057","https://openalex.org/W4206303049","https://openalex.org/W2743986139","https://openalex.org/W2349125042","https://openalex.org/W2186356355","https://openalex.org/W4312515014","https://openalex.org/W2901276430"],"abstract_inverted_index":{"As":[0],"a":[1,28,64,115],"major":[2],"inspiration":[3],"of":[4,27,30,37,44,52,58,101,117,140],"biologically":[5],"inspired":[6],"systems,":[7],"multi-legged":[8],"robots":[9,54],"have":[10],"been":[11],"developed":[12],"due":[13],"to":[14,73],"their\r\n\r\nsuperior":[15],"stability":[16],"feature":[17],"resulting":[18],"from":[19],"their":[20],"large":[21],"support":[22],"polygon.":[23],"The":[24],"leg":[25,62,138],"design":[26,70],"majority":[29],"such":[31,39,46],"robots\r\n\r\nis":[32],"motivated":[33],"by":[34,92,109],"the":[35,56,59,86,95,102,105,110,123,127,141],"skeleton":[36],"vertebrates":[38],"as":[40,47],"dogs,":[41],"or":[42],"that":[43],"invertebrates":[45],"spiders.":[48],"Despite":[49],"a\r\n\r\nwide":[50],"variety":[51],"multi-pedal":[53],"on":[55,122],"basis":[57],"two":[60,68,87,142],"aforesaid":[61],"designs,":[63],"thorough":[65],"comparison":[66],"of\r\n\r\nthe":[67],"underlying":[69],"principles":[71],"remains":[72],"be":[74],"done.":[75],"This":[76],"work":[77],"addresses":[78],"this":[79,113],"problem":[80],"and":[81,89,104,131,134],"presents":[82],"a\r\n\r\ncomparative":[83],"study":[84],"for":[85],"mammal-like":[88],"spider-like":[90],"designs":[91],"looking":[93],"at":[94],"joint":[96],"torque":[97],"profile,":[98],"the\r\n\r\nresponsive":[99],"motion":[100],"legs,":[103],"thrust":[106],"force":[107],"applied":[108],"robot.":[111],"To":[112],"end,":[114],"set":[116],"performance\r\n\r\nindexes":[118],"are":[119],"defined":[120],"based":[121],"gravity":[124],"compensation":[125],"torque,":[126],"dynamic":[128],"manipulability":[129],"polytope":[130],"the\r\n\r\nforce":[132],"polytope,":[133],"evaluated":[135],"in":[136],"various":[137],"configurations":[139],"designs.":[143]},"counts_by_year":[{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}