{"id":"https://openalex.org/W4390467091","doi":"https://doi.org/10.3390/robotics13010009","title":"NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot","display_name":"NU-Biped-4.5: A Lightweight and Low-Prototyping-Cost Full-Size Bipedal Robot","publication_year":2023,"publication_date":"2023-12-31","ids":{"openalex":"https://openalex.org/W4390467091","doi":"https://doi.org/10.3390/robotics13010009"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13010009","doi":"https://doi.org/10.3390/robotics13010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010009","pdf_url":"https://www.mdpi.com/2218-6581/13/1/9/pdf?version=1704007628","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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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"},"parent_works":[],"lineage":["https://openalex.org/W4390467091"],"child_works_count":0,"type":"article","is_traditional":true,"indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/1/9/pdf?version=1704007628","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042483166","display_name":"Michele Folgheraiter","orcid":"https://orcid.org/0000-0001-6003-4585","observed_orcids":["https://orcid.org/0000-0001-6003-4585"]},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":true,"raw_author_name":"Michele Folgheraiter","raw_affiliation_strings":["Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0001-6003-4585","affiliations":[{"raw_affiliation_string":"Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014109923","display_name":"Sharafatdin Yessirkepov","orcid":"https://orcid.org/0009-0002-2739-4399","observed_orcids":["https://orcid.org/0009-0002-2739-4399"]},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Sharafatdin Yessirkepov","raw_affiliation_strings":["Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan"],"raw_orcid":"https://orcid.org/0009-0002-2739-4399","affiliations":[{"raw_affiliation_string":"Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074548097","display_name":"Timur Umurzakov","orcid":"https://orcid.org/0000-0003-2464-8605","observed_orcids":["https://orcid.org/0000-0003-2464-8605"]},"institutions":[{"id":"https://openalex.org/I60559429","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98","country_code":"KZ","type":"education","lineage":["https://openalex.org/I60559429"]}],"countries":["KZ"],"is_corresponding":false,"raw_author_name":"Timur Umurzakov","raw_affiliation_strings":["Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan"],"raw_orcid":"https://orcid.org/0000-0003-2464-8605","affiliations":[{"raw_affiliation_string":"Department of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kabanbay Batyr Ave. 53, Astana 01000, Kazakhstan","institution_ids":["https://openalex.org/I60559429"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5042483166"],"corresponding_institution_ids":["https://openalex.org/I60559429"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1779},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1779},"fwci":0.6105,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.58716902,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":97},"biblio":{"volume":"13","issue":"1","first_page":"9","last_page":"9"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9961000084877014,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9961000084877014,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.00279999990016222,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.0008999999845400453,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bipedal-robot","display_name":"biped robot","score":0.9929999709129333},{"id":"https://openalex.org/keywords/humanoid-robots","display_name":"humanoid robots","score":0.722000002861023},{"id":"https://openalex.org/keywords/lightweight-robot-design","display_name":"lightweight robot design","score":0.8629999756813049},{"id":"https://openalex.org/keywords/low-cost-robot-prototype","display_name":"low-cost robot prototype","score":0.7519999742507935},{"id":"https://openalex.org/keywords/servo-motor","display_name":"servo motor","score":0.7559999823570251},{"id":"https://openalex.org/keywords/actuation-systems","display_name":"actuation systems","score":0.7519999742507935},{"id":"https://openalex.org/keywords/power-to-weight-ratio","display_name":"specific power","score":0.890999972820282},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"forward kinematics","score":0.9470000267028809},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"inverse kinematics","score":0.9599999785423279},{"id":"https://openalex.org/keywords/joint-trajectory-tracking","display_name":"joint trajectory tracking","score":0.7540000081062317},{"id":"https://openalex.org/keywords/commercial-off-the-shelf-components","display_name":"commercial off-the-shelf components","score":0.7820000052452087}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6996357440948486},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6701229214668274},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6372325420379639},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6347471475601196},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5591797828674316},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5224246382713318},{"id":"https://openalex.org/C109441226","wikidata":"https://www.wikidata.org/wiki/Q1137255","display_name":"Servomotor","level":2,"score":0.5215380191802979},{"id":"https://openalex.org/C2780395129","wikidata":"https://www.wikidata.org/wiki/Q1128971","display_name":"Rapid prototyping","level":2,"score":0.4600718915462494},{"id":"https://openalex.org/C107551265","wikidata":"https://www.wikidata.org/wiki/Q1458245","display_name":"Displacement (psychology)","level":2,"score":0.43762680888175964},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42374885082244873},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41321492195129395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.413008451461792},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.23177364468574524},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20458388328552246},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C542102704","wikidata":"https://www.wikidata.org/wiki/Q183257","display_name":"Psychotherapist","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics13010009","doi":"https://doi.org/10.3390/robotics13010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010009","pdf_url":"https://www.mdpi.com/2218-6581/13/1/9/pdf?version=1704007628","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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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:nur.nu.edu.kz:123456789/16892","doi":null,"is_oa":false,"landing_page_url":"https://nur.nu.edu.kz/handle/123456789/16892","pdf_url":null,"source":{"id":"https://openalex.org/S4377196417","display_name":"Nazarbayev University Repository (Nazarbayev University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I60559429","host_organization_name":"Nazarbayev University","host_organization_lineage":["https://openalex.org/I60559429"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:0bb6f1a5072d4723ba7cb2db2c8cd402","doi":null,"is_oa":true,"landing_page_url":"https://doaj.org/article/0bb6f1a5072d4723ba7cb2db2c8cd402","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 1, p 9 (2023)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13010009","doi":"https://doi.org/10.3390/robotics13010009","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13010009","pdf_url":"https://www.mdpi.com/2218-6581/13/1/9/pdf?version=1704007628","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,"listed_in":["cwts-core","doaj","norway-1","poland-20","russia-white-list-1"],"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":[],"study_designs":[],"awards":[{"id":"https://openalex.org/G2273178643","display_name":null,"funder_award_id":"201223FD8812","funder_id":"https://openalex.org/F4320327695","funder_display_name":"Nazarbayev University"},{"id":"https://openalex.org/G4284503259","display_name":null,"funder_award_id":"021220FD0551","funder_id":"https://openalex.org/F4320327695","funder_display_name":"Nazarbayev University"}],"funders":[{"id":"https://openalex.org/F4320327695","display_name":"Nazarbayev University","ror":"https://ror.org/052bx8q98"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4390467091.pdf","grobid_xml":"https://content.openalex.org/works/W4390467091.grobid-xml"},"referenced_works_count":54,"referenced_works":["https://openalex.org/W355724390","https://openalex.org/W1945123189","https://openalex.org/W1972588742","https://openalex.org/W1986621758","https://openalex.org/W2006625514","https://openalex.org/W2008223241","https://openalex.org/W2014478593","https://openalex.org/W2028656446","https://openalex.org/W2029276050","https://openalex.org/W2082511574","https://openalex.org/W2089258758","https://openalex.org/W2102653827","https://openalex.org/W2120693140","https://openalex.org/W2127763473","https://openalex.org/W2138671676","https://openalex.org/W2139255095","https://openalex.org/W2294646437","https://openalex.org/W2390714945","https://openalex.org/W2508467022","https://openalex.org/W2551038473","https://openalex.org/W2555059385","https://openalex.org/W2564242381","https://openalex.org/W2569338730","https://openalex.org/W2569517946","https://openalex.org/W2730083658","https://openalex.org/W2785527852","https://openalex.org/W2806243891","https://openalex.org/W2887272742","https://openalex.org/W2908295245","https://openalex.org/W2910348050","https://openalex.org/W2913971027","https://openalex.org/W2914032864","https://openalex.org/W2914783611","https://openalex.org/W2915839715","https://openalex.org/W2946886874","https://openalex.org/W2994241268","https://openalex.org/W3000705690","https://openalex.org/W3010682736","https://openalex.org/W3013692415","https://openalex.org/W3124944733","https://openalex.org/W3141336374","https://openalex.org/W3173803638","https://openalex.org/W3199745080","https://openalex.org/W3207671673","https://openalex.org/W3209487471","https://openalex.org/W4290721408","https://openalex.org/W4309389268","https://openalex.org/W4310296700","https://openalex.org/W4323645853","https://openalex.org/W4377704947","https://openalex.org/W4380419767","https://openalex.org/W4385602717","https://openalex.org/W4386173857","https://openalex.org/W6681532280"],"related_works":["https://openalex.org/W4377704947","https://openalex.org/W4323645853","https://openalex.org/W2887272742","https://openalex.org/W2899255710","https://openalex.org/W6990028817","https://openalex.org/W4385602717","https://openalex.org/W4285400413","https://openalex.org/W4226014555","https://openalex.org/W2550222358","https://openalex.org/W2787408844"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"the":[3,14,41,44,52,57,72,96,104,107,112,118,121,133,138,145],"design":[4,50,100],"of":[5,27,46,54,67,82,90,95,106,120,142,159],"a":[6,47,87,128,151],"new":[7],"lightweight,":[8],"full-size":[9],"bipedal":[10],"robot":[11,139],"developed":[12],"in":[13,86,126],"Humanoid":[15],"Robotics":[16],"Laboratory":[17],"at":[18,31],"Nazarbayev":[19],"University.":[20],"The":[21,65,93],"robot,":[22],"equipped":[23],"with":[24],"12":[25],"degrees":[26],"freedom":[28],"(DOFs),":[29],"stands":[30],"1.1":[32],"m":[33],"tall":[34],"and":[35,51,98,117,131],"weighs":[36],"only":[37],"15":[38],"kg":[39],"(excluding":[40],"battery).":[42],"Through":[43],"implementation":[45],"simple":[48],"mechanical":[49,83,97],"utilization":[53],"off-the-shelf":[55],"components,":[56],"overall":[58],"prototype":[59,135],"cost":[60],"remained":[61],"under":[62],"USD":[63],"5000.":[64],"incorporation":[66],"high-performance":[68],"in-house-developed":[69],"servomotors":[70],"enables":[71],"robot\u2019s":[73],"actuation":[74],"system":[75],"to":[76,79,149],"generate":[77],"up":[78],"2400":[80],"W":[81],"power,":[84],"resulting":[85],"power-to-weight":[88],"ratio":[89],"160":[91],"W/kg.":[92],"details":[94],"electrical":[99],"are":[101],"presented":[102],"alongside":[103],"formalization":[105],"forward":[108],"kinematic":[109],"model":[110],"using":[111],"successive":[113],"screw":[114],"displacement":[115],"method":[116],"solution":[119],"inverse":[122],"kinematics.":[123],"Tests":[124],"conducted":[125],"both":[127],"simulation":[129],"environment":[130],"on":[132],"real":[134],"demonstrate":[136],"that":[137],"is":[140],"capable":[141],"accurately":[143],"following":[144],"reference":[146],"joint":[147],"trajectories":[148],"execute":[150],"quasi-static":[152],"gait,":[153],"achieving":[154],"an":[155],"average":[156],"power":[157],"consumption":[158],"496":[160],"W.":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":3}],"updated_date":"2026-11-04T10:54:05.112534","created_date":"2024-01-01T00:00:00"}