{"id":"https://openalex.org/W2555264931","doi":"https://doi.org/10.1017/s026357471600059x","title":"Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot","display_name":"Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot","publication_year":2016,"publication_date":"2016-11-22","ids":{"openalex":"https://openalex.org/W2555264931","doi":"https://doi.org/10.1017/s026357471600059x","mag":"2555264931"},"language":"en","primary_location":{"id":"doi:10.1017/s026357471600059x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471600059x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"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/A5027170643","display_name":"Majid Sadedel","orcid":"https://orcid.org/0000-0002-0285-8460"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Sadedel","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:"],"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019618228","display_name":"Aghil Yousefi\u2010Koma","orcid":"https://orcid.org/0000-0002-0705-3338"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"Aghil Yousefi-Koma","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:"],"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran. E-mail:"],"affiliations":[{"raw_affiliation_string":"Center of Excellence in Robotics and Control, Advanced Robotics & Automated Systems (ARAS) Lab, Department of Mechanical Engineering, K. N. Toosi University of Technology, Tehran, Iran. E-mail:","institution_ids":["https://openalex.org/I80543232"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033718266","display_name":"Mohhamad Mahdavian","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohhamad Mahdavian","raw_affiliation_strings":["Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:"],"affiliations":[{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST), School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran. E-mails:","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5019618228"],"corresponding_institution_ids":["https://openalex.org/I23946033"],"apc_list":null,"apc_paid":null,"fwci":0.8547,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.74874654,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":"11","first_page":"2099","last_page":"2121"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9973999857902527,"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":0.9729999899864197,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7199884653091431},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5937948822975159},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5343958735466003},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5094731450080872},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.5069601535797119},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.4981062412261963},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4534097909927368},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.44343236088752747},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.4252469539642334},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.42003124952316284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4054354131221771},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.2593159079551697},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1886577308177948},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12718245387077332},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11467695236206055}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7199884653091431},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5937948822975159},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5343958735466003},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5094731450080872},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.5069601535797119},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.4981062412261963},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4534097909927368},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.44343236088752747},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.4252469539642334},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.42003124952316284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4054354131221771},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.2593159079551697},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1886577308177948},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12718245387077332},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11467695236206055},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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":1,"locations":[{"id":"doi:10.1017/s026357471600059x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357471600059x","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy","score":0.9100000262260437}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322243","display_name":"Iran National Science Foundation","ror":"https://ror.org/03sr1ma14"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W421036450","https://openalex.org/W1839195809","https://openalex.org/W1969168411","https://openalex.org/W1971493524","https://openalex.org/W1986024064","https://openalex.org/W1995551113","https://openalex.org/W2013736914","https://openalex.org/W2026582138","https://openalex.org/W2037729465","https://openalex.org/W2042320038","https://openalex.org/W2049215078","https://openalex.org/W2051287096","https://openalex.org/W2055149370","https://openalex.org/W2055576996","https://openalex.org/W2061578829","https://openalex.org/W2064675281","https://openalex.org/W2070724620","https://openalex.org/W2089183718","https://openalex.org/W2091338274","https://openalex.org/W2100940538","https://openalex.org/W2102906689","https://openalex.org/W2123400950","https://openalex.org/W2123855341","https://openalex.org/W2139889932","https://openalex.org/W2149244757","https://openalex.org/W2149407815","https://openalex.org/W2156632349","https://openalex.org/W2162341771","https://openalex.org/W2162368141","https://openalex.org/W2220118182","https://openalex.org/W2253274025","https://openalex.org/W2289706488","https://openalex.org/W2304791569","https://openalex.org/W2364918774","https://openalex.org/W2962817082","https://openalex.org/W2998008608","https://openalex.org/W3102893219","https://openalex.org/W3146431201","https://openalex.org/W3147567656","https://openalex.org/W3147639870","https://openalex.org/W4238835224","https://openalex.org/W4242186910","https://openalex.org/W4242924194","https://openalex.org/W4247239672","https://openalex.org/W4301851587","https://openalex.org/W4323517655","https://openalex.org/W6688388336","https://openalex.org/W6697958691","https://openalex.org/W6707198834"],"related_works":["https://openalex.org/W2360051520","https://openalex.org/W2798244654","https://openalex.org/W3168108534","https://openalex.org/W2018616004","https://openalex.org/W2115251065","https://openalex.org/W3046712063","https://openalex.org/W2794845846","https://openalex.org/W1995444956","https://openalex.org/W2006528931","https://openalex.org/W2145605405"],"abstract_inverted_index":{"SUMMARY":[0],"Adding":[1],"active":[2],"toe":[3,30,52,67,98,128,146,160,223],"joints":[4,31,68,129,147,161,224,232,256],"to":[5,45,64,69,174],"a":[6,17,39,42,95,114,118],"humanoid":[7,73,123],"robot":[8,25,74,156,200],"structure":[9],"has":[10],"lots":[11,46],"of":[12,38,47,49,60,83,90,135,143,154,179,198,206,228,243,251],"difficulties":[13],"such":[14],"as":[15,261],"mounting":[16],"small":[18],"motor":[19],"and":[20,41,78,86,102,108,215,230,235,249,254,266],"an":[21],"encoder":[22],"on":[23],"the":[24,56,58,70,81,136,141,144,155,165,176,180,186,194,199,204,207,246,252,262],"feet.":[26],"Conversely,":[27],"adding":[28,185],"passive":[29,51,66,97,127,145,159,222],"is":[32,63,100,130,138,172,201,210],"simple,":[33],"since":[34],"it":[35],"only":[36],"consists":[37],"spring":[40],"damper.":[43],"Due":[44],"benefits":[48],"implementing":[50],"joints,":[53],"mentioned":[54],"in":[55,148],"literature,":[57],"goal":[59],"this":[61,93],"study":[62],"add":[65],"SURENA":[71],"III":[72],"which":[75],"was":[76],"designed":[77,101],"fabricated":[79],"at":[80,104],"Center":[82],"Advanced":[84],"Systems":[85],"Technologies":[87],"(CAST),":[88],"University":[89],"Tehran.":[91],"To":[92],"end,":[94],"simple":[96],"joint":[99,264],"fabricated,":[103],"first.":[105],"Then,":[106],"stiffness":[107,244],"damping":[109],"coefficients":[110],"are":[111,162],"calculated":[112,187],"using":[113,164,221],"vision-based":[115],"measurement.":[116],"Afterwards,":[117],"gait":[119,137],"planning":[120],"routine":[121,171],"for":[122,190],"robots":[124],"equipped":[125,157],"with":[126,158,239],"implemented.":[131],"The":[132,151],"tip-over":[133],"stability":[134],"studied,":[139],"considering":[140],"vibration":[142],"swing":[149],"phases.":[150],"multi-body":[152],"dynamics":[153],"presented":[163],"Lagrange":[166],"approach.":[167],"Furthermore,":[168],"system":[169],"identification":[170],"adopted":[173],"model":[175,197],"dynamic":[177,196],"behaviors":[178],"power":[181,250,267],"transmission":[182],"system.":[183],"By":[184],"actuating":[188],"torques":[189],"these":[191],"two":[192],"models,":[193],"whole":[195],"computed.":[202],"Finally,":[203],"performance":[205],"proposed":[208],"approach":[209],"evaluated":[211],"by":[212,233],"several":[213],"simulations":[214],"experimental":[216],"results.":[217],"Results":[218],"show":[219],"that":[220],"reduces":[225,260],"energy":[226],"consumption":[227],"ankle":[229,263],"knee":[231,253],"15.3%":[234],"9.0%,":[236],"respectively.":[237],"Moreover,":[238],"relatively":[240],"large":[241],"values":[242],"coefficients,":[245],"required":[247],"torque":[248,265],"hip":[255],"during":[257],"heel-off":[258],"motion":[259],"increases.":[268]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
