{"id":"https://openalex.org/W2742330659","doi":"https://doi.org/10.1109/urai.2017.7992876","title":"Efficiency improvement of a robotic leg using a pneumatic-electric hybrid actuation system","display_name":"Efficiency improvement of a robotic leg using a pneumatic-electric hybrid actuation system","publication_year":2017,"publication_date":"2017-06-01","ids":{"openalex":"https://openalex.org/W2742330659","doi":"https://doi.org/10.1109/urai.2017.7992876","mag":"2742330659"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5022197053","display_name":"Jungsoo Cho","orcid":"https://orcid.org/0000-0002-6014-6816"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungsoo Cho","raw_affiliation_strings":["Department of Mechanical Engineering, Sogang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sogang University, Seoul, Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002023536","display_name":"Byeounghun Na","orcid":null},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeounghun Na","raw_affiliation_strings":["Department of Mechanical Engineering, Sogang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sogang University, Seoul, Korea","institution_ids":["https://openalex.org/I148751991"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5021312861","display_name":"Kyoungchul Kong","orcid":"https://orcid.org/0000-0002-5785-0044"},"institutions":[{"id":"https://openalex.org/I148751991","display_name":"Sogang University","ror":"https://ror.org/056tn4839","country_code":"KR","type":"education","lineage":["https://openalex.org/I148751991"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyoungchul Kong","raw_affiliation_strings":["Department of Mechanical Engineering, Sogang University, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Sogang University, Seoul, Korea","institution_ids":["https://openalex.org/I148751991"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":2,"citation_normalized_percentile":{"value":0.49054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":71,"max":75},"biblio":{"volume":null,"issue":null,"first_page":"7","last_page":"13"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9999,"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":0.9999,"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":0.9953,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9905,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/pneumatic-actuator","display_name":"Pneumatic actuator","score":0.7317276},{"id":"https://openalex.org/keywords/pneumatic-cylinder","display_name":"Pneumatic cylinder","score":0.60197794},{"id":"https://openalex.org/keywords/rotary-actuator","display_name":"Rotary actuator","score":0.51115566},{"id":"https://openalex.org/keywords/pneumatic-artificial-muscles","display_name":"Pneumatic artificial muscles","score":0.4215895},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.4171574}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.7935431},{"id":"https://openalex.org/C170401851","wikidata":"https://www.wikidata.org/wiki/Q1965061","display_name":"Pneumatic actuator","level":3,"score":0.7317276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.65503675},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6152653},{"id":"https://openalex.org/C109217959","wikidata":"https://www.wikidata.org/wiki/Q4567087","display_name":"Pneumatic cylinder","level":3,"score":0.60197794},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5311448},{"id":"https://openalex.org/C110682481","wikidata":"https://www.wikidata.org/wiki/Q7370260","display_name":"Rotary actuator","level":3,"score":0.51115566},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4975944},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47517934},{"id":"https://openalex.org/C2778313331","wikidata":"https://www.wikidata.org/wiki/Q2317989","display_name":"Pneumatic artificial muscles","level":4,"score":0.4215895},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.4171574},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.41210425},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4053446},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.34853342},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32483876},{"id":"https://openalex.org/C196628372","wikidata":"https://www.wikidata.org/wiki/Q4801090","display_name":"Artificial muscle","level":3,"score":0.2396299},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.16147381},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12664166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09450561},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.07420272},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.069612235},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C203311528","wikidata":"https://www.wikidata.org/wiki/Q34132","display_name":"Cylinder","level":2,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2017.7992876","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.83}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":7,"referenced_works":["https://openalex.org/W1994791164","https://openalex.org/W2094496385","https://openalex.org/W2156355884","https://openalex.org/W2157936767","https://openalex.org/W2159220301","https://openalex.org/W2737681483","https://openalex.org/W4250087872"],"related_works":["https://openalex.org/W582504364","https://openalex.org/W3165644877","https://openalex.org/W3163154013","https://openalex.org/W3162171919","https://openalex.org/W3116899969","https://openalex.org/W2574313569","https://openalex.org/W2545961253","https://openalex.org/W2139094590","https://openalex.org/W2072549176","https://openalex.org/W1984064361"],"abstract_inverted_index":{"Realizing":[0],"quadrupedal":[1,51],"robots,":[2],"inspired":[3],"by":[4,136,146],"the":[5,26,31,44,65,80,93,101,106,129,141],"biology":[6],"of":[7,22,46,67,73,79,125],"quadrupeds,":[8],"is":[9,41,162],"very":[10],"challenging":[11],"due":[12],"to":[13,96,151,164],"fulfilling":[14],"high":[15,170],"speed":[16,171],"locomotion":[17],"with":[18,88,108],"relatively":[19],"low":[20,32,160],"cost":[21],"transport":[23],"(CoT)":[24],"at":[25],"same":[27],"time.":[28],"To":[29],"accomplish":[30],"CoT":[33,143,161],"for":[34,127],"given":[35],"speed,":[36],"a":[37,58,97,119,139],"semi-active":[38,54,130,154],"pneumatic":[39,55,131,155],"actuator":[40,56,132],"proposed":[42],"in":[43,157],"leg":[45,107],"Cheetaroid,":[47],"an":[48,68,89],"inhouse":[49],"developed":[50],"robot.":[52],"This":[53],"provides":[57],"switchable":[59],"stiffness.":[60],"During":[61,85],"stance,":[62],"it":[63],"relieves":[64],"load":[66],"actuation":[69,81,102],"module":[70,82,103],"that":[71,100,152],"consists":[72],"gears":[74],"and":[75,114],"motors,":[76],"leaving":[77],"dynamics":[78],"nearly":[83],"intact.":[84],"swing,":[86],"just":[87],"infinitesimal":[90],"power":[91],"input,":[92],"stiffness":[94],"changes":[95],"minimum,":[98],"such":[99],"can":[104],"control":[105],"no":[109],"resistance.":[110],"Based":[111],"on":[112],"motion":[113],"torque":[115],"data":[116],"obtained":[117],"through":[118],"2-D":[120],"whole":[121],"body":[122],"dynamic":[123],"simulation":[124],"Cheetaroid":[126],"bounding,":[128],"was":[133,144],"efficiently":[134],"designed":[135],"optimization.":[137],"As":[138],"result,":[140],"robot's":[142],"reduced":[145],"more":[147],"than":[148],"50%":[149],"compared":[150],"without":[153,168],"actuators":[156],"simulation.":[158],"The":[159],"expected":[163],"improve":[165],"operation":[166],"time":[167],"losing":[169],"capability.":[172]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W2742330659","counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-01-05T21:03:16.299556","created_date":"2017-08-17"}