{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T08:58:59Z","timestamp":1767085139924,"version":"3.37.3"},"reference-count":19,"publisher":"IEEE","license":[{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2021,9,27]],"date-time":"2021-09-27T00:00:00Z","timestamp":1632700800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/100000001","name":"National Science Foundation","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000001","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2021,9,27]]},"DOI":"10.1109\/iros51168.2021.9636427","type":"proceedings-article","created":{"date-parts":[[2021,12,16]],"date-time":"2021-12-16T20:45:38Z","timestamp":1639687538000},"page":"9327-9332","source":"Crossref","is-referenced-by-count":5,"title":["Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice"],"prefix":"10.1109","author":[{"given":"Edgar A.","family":"Bolivar-Nieto","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gray C.","family":"Thomas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Elliott","family":"Rouse","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Robert D.","family":"Gregg","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"263","reference":[{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/2438.001.0001"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3005533"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2015.07.004"},{"key":"ref13","first-page":"299","article-title":"A Comparative Analysis of Actuator Technologies for Robotics","volume":"2","author":"hollerbach","year":"1992","journal-title":"The Robotics Review"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8967626"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/T-AIEE.1929.5055275"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1038\/s41551-020-00619-3"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1177\/0278364918785993"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2018.8488057"},{"key":"ref19","first-page":"1","article-title":"CVXPY: A Python-embedded modeling language for convex optimization","volume":"17","author":"diamond","year":"2016","journal-title":"Journal of Machine Learning Research"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804458.002"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2019.2906887"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511804441"},{"key":"ref8","article-title":"Robust optimal design of energy efficient series elastic actuators: Application to a powered prosthetic ankle","author":"bol\u00edvar nieto","year":"2019","journal-title":"Proc Int Conf Rehabil Robot (ICORR)"},{"journal-title":"Robust Optimization Ser Princeton Series in Applied Mathematics","year":"2009","author":"ben-tal","key":"ref7"},{"key":"ref2","article-title":"Design and Analysis of Series Elasticity in Closed-loop Actuator Force Control","author":"robinson","year":"2000","journal-title":"Ph D Dissertation"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref9","article-title":"Series Spring Design for Robust-Feasible Quasi-Direct Drives","author":"bol\u00edvar-nieto","year":"0","journal-title":"Mechatronics"}],"event":{"name":"2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","start":{"date-parts":[[2021,9,27]]},"location":"Prague, Czech Republic","end":{"date-parts":[[2021,10,1]]}},"container-title":["2021 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/9635848\/9635849\/09636427.pdf?arnumber=9636427","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,5,10]],"date-time":"2022-05-10T16:54:35Z","timestamp":1652201675000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9636427\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,9,27]]},"references-count":19,"URL":"https:\/\/doi.org\/10.1109\/iros51168.2021.9636427","relation":{},"subject":[],"published":{"date-parts":[[2021,9,27]]}}}