{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,10]],"date-time":"2026-07-10T16:28:12Z","timestamp":1783700892556,"version":"3.55.0"},"reference-count":37,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"6","license":[{"start":{"date-parts":[[2016,12,1]],"date-time":"2016-12-01T00:00:00Z","timestamp":1480550400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"funder":[{"DOI":"10.13039\/501100003958","name":"STW","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003958","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003246","name":"Netherlands Organisation for Scientific Research (NWO)","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003246","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Marie-Curie Career Integration","award":["PCIG13-GA-2013-618899"],"award-info":[{"award-number":["PCIG13-GA-2013-618899"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2016,12]]},"DOI":"10.1109\/tro.2016.2604496","type":"journal-article","created":{"date-parts":[[2016,10,10]],"date-time":"2016-10-10T18:09:46Z","timestamp":1476122986000},"page":"1512-1523","source":"Crossref","is-referenced-by-count":74,"title":["Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator"],"prefix":"10.1109","volume":"32","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6519-6062","authenticated-orcid":false,"given":"Michiel","family":"Plooij","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Martijn","family":"Wisse","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Heike","family":"Vallery","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"263","reference":[{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2014.2381368"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139299"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/ROBIO.2012.6491330"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1109\/IEMBS.2007.4352965"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487194"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1016\/j.precisioneng.2015.09.013"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1145\/2450153.2450155"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2493359"},{"key":"ref10","article-title":"Energy-free systems: Theory, conception and design of statically\n balanced spring mechanisms","author":"herder","year":"2001"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-36380-4"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2007.4399382"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1007\/s12369-010-0048-9"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911408631"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2011.5980276"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2012.6385488"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/BioRob.2012.6290722"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2014.6907194"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2307122"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2015.7139278"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1307425"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2013.6650383"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1126\/science.1107799"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2008.927697"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2008.4601740"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2008.915453"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2337514"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907084588"},{"key":"ref2","first-page":"4344","article-title":"Energy-efficient motion planning for mobile robots","volume":"5","author":"mei","year":"2004","journal-title":"Proc IEEE Int Conf Robot Autom"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6631038"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICAR.2011.6088567"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1115\/1.4028653"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1117\/12.548000"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.1995.525827"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2052398"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2009.933629"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2013.6630623"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.06.009"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/8860\/7747233\/07587409.pdf?arnumber=7587409","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,1,12]],"date-time":"2022-01-12T16:20:05Z","timestamp":1642004405000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/7587409\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2016,12]]},"references-count":37,"journal-issue":{"issue":"6"},"URL":"https:\/\/doi.org\/10.1109\/tro.2016.2604496","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2016,12]]}}}