{"id":"https://openalex.org/W4366291458","doi":"https://doi.org/10.1017/s0263574723000395","title":"Design, development, and analysis of the lower body of next-generation 3D-printed humanoid research platform: PANDORA","display_name":"Design, development, and analysis of the lower body of next-generation 3D-printed humanoid research platform: PANDORA","publication_year":2023,"publication_date":"2023-04-18","ids":{"openalex":"https://openalex.org/W4366291458","doi":"https://doi.org/10.1017/s0263574723000395"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723000395","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723000395","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6362EAC06616C57E4FE6E3E4EE539950/S0263574723000395a.pdf/div-class-title-design-development-and-analysis-of-the-lower-body-of-next-generation-3d-printed-humanoid-research-platform-pandora-div.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","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":true,"oa_status":"hybrid","oa_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6362EAC06616C57E4FE6E3E4EE539950/S0263574723000395a.pdf/div-class-title-design-development-and-analysis-of-the-lower-body-of-next-generation-3d-printed-humanoid-research-platform-pandora-div.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011902943","display_name":"Alexander J. Fuge","orcid":"https://orcid.org/0000-0001-5729-4423"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Alexander J. Fuge","raw_affiliation_strings":["Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA"],"raw_orcid":"https://orcid.org/0000-0001-5729-4423","affiliations":[{"raw_affiliation_string":"Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091741065","display_name":"Connor W. Herron","orcid":"https://orcid.org/0000-0002-3106-001X"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Connor W. Herron","raw_affiliation_strings":["Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034464703","display_name":"Benjamin C. Beiter","orcid":"https://orcid.org/0000-0003-2149-7741"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin C. Beiter","raw_affiliation_strings":["Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018508447","display_name":"Bhaben Kalita","orcid":"https://orcid.org/0000-0001-8361-9308"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bhaben Kalita","raw_affiliation_strings":["Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA","institution_ids":["https://openalex.org/I859038795"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5025620905","display_name":"Alexander Leonessa","orcid":"https://orcid.org/0000-0001-9317-2714"},"institutions":[{"id":"https://openalex.org/I859038795","display_name":"Virginia Tech","ror":"https://ror.org/02smfhw86","country_code":"US","type":"education","lineage":["https://openalex.org/I859038795"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Leonessa","raw_affiliation_strings":["Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Terrestrial Robotics Engineering and Controls (TREC) Laboratory, Virginia Tech, Blacksburg, VA, 24060, USA","institution_ids":["https://openalex.org/I859038795"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5011902943"],"corresponding_institution_ids":["https://openalex.org/I859038795"],"apc_list":null,"apc_paid":null,"fwci":1.5023,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.80486099,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"41","issue":"7","first_page":"2177","last_page":"2206"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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":0.9990000128746033,"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":0.9983000159263611,"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":0.9922000169754028,"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":0.7888625860214233},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6850386261940002},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5943454504013062},{"id":"https://openalex.org/keywords/3d-printing","display_name":"3D printing","score":0.5597725510597229},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5351003408432007},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5010216236114502},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.42639413475990295},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.39201152324676514},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3736749291419983},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32497262954711914},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2316717803478241}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7888625860214233},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6850386261940002},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5943454504013062},{"id":"https://openalex.org/C524769229","wikidata":"https://www.wikidata.org/wiki/Q229367","display_name":"3D printing","level":2,"score":0.5597725510597229},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5351003408432007},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5010216236114502},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.42639413475990295},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.39201152324676514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3736749291419983},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32497262954711914},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2316717803478241},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574723000395","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723000395","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6362EAC06616C57E4FE6E3E4EE539950/S0263574723000395a.pdf/div-class-title-design-development-and-analysis-of-the-lower-body-of-next-generation-3d-printed-humanoid-research-platform-pandora-div.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},{"id":"pmh:oai:vtechworks.lib.vt.edu:10919/116056","is_oa":true,"landing_page_url":"http://hdl.handle.net/10919/116056","pdf_url":"https://vtechworks.lib.vt.edu/bitstreams/0a88ed38-538c-4ee4-8075-3b9a140d0a5d/download","source":{"id":"https://openalex.org/S4306400248","display_name":"VTechWorks (Virginia Tech)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I859038795","host_organization_name":"Virginia Tech","host_organization_lineage":["https://openalex.org/I859038795"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Text"}],"best_oa_location":{"id":"doi:10.1017/s0263574723000395","is_oa":true,"landing_page_url":"https://doi.org/10.1017/s0263574723000395","pdf_url":"https://www.cambridge.org/core/services/aop-cambridge-core/content/view/6362EAC06616C57E4FE6E3E4EE539950/S0263574723000395a.pdf/div-class-title-design-development-and-analysis-of-the-lower-body-of-next-generation-3d-printed-humanoid-research-platform-pandora-div.pdf","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":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6299999952316284,"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4366291458.pdf"},"referenced_works_count":34,"referenced_works":["https://openalex.org/W2000550377","https://openalex.org/W2003013030","https://openalex.org/W2003376746","https://openalex.org/W2097323016","https://openalex.org/W2205656927","https://openalex.org/W2212383095","https://openalex.org/W2213794149","https://openalex.org/W2214607041","https://openalex.org/W2220247459","https://openalex.org/W2220283420","https://openalex.org/W2417728065","https://openalex.org/W2556468286","https://openalex.org/W2614308505","https://openalex.org/W2773059370","https://openalex.org/W2785527852","https://openalex.org/W2891428573","https://openalex.org/W2901419781","https://openalex.org/W2902578542","https://openalex.org/W2913971027","https://openalex.org/W2945257697","https://openalex.org/W2973138676","https://openalex.org/W2994241268","https://openalex.org/W3043892495","https://openalex.org/W3068450335","https://openalex.org/W3099724658","https://openalex.org/W3103030103","https://openalex.org/W3143373178","https://openalex.org/W3176198706","https://openalex.org/W4205634661","https://openalex.org/W4229914840","https://openalex.org/W4253155628","https://openalex.org/W4316464923","https://openalex.org/W6756780430","https://openalex.org/W6780632860"],"related_works":["https://openalex.org/W200039263","https://openalex.org/W2031129854","https://openalex.org/W1804325819","https://openalex.org/W4385626272","https://openalex.org/W4225148601","https://openalex.org/W2121244105","https://openalex.org/W2948566113","https://openalex.org/W2169547041","https://openalex.org/W2052008821","https://openalex.org/W4292103105"],"abstract_inverted_index":{"Abstract":[0],"The":[1,35,60,98,152,212],"main":[2],"contribution":[3],"of":[4,12,16,54,62,89,100,102,106,133,137,154,165,181,201],"this":[5,217],"paper":[6],"is":[7,112],"the":[8,13,45,55,69,87,103,130,134,141,150,162,166,174,179,186,199,225],"design":[9],"and":[10,41,52,65,95,111,144,158,168,193,205,230],"development":[11],"lower":[14,56,104,120,135,224],"body":[15,57,105,136],"PANDORA":[17,107,138,170,184],"(3D-Printed":[18],"Autonomous":[19],"humaNoid":[20],"Developed":[21],"for":[22,74,188,195],"Open-source":[23],"Research":[24],"Applications),":[25],"a":[26,80,118,210],"new":[27],"humanoid":[28,75,202],"robotic":[29],"platform":[30],"implementing":[31],"additive":[32],"manufacturing":[33,94],"techniques.":[34],"three":[36,47],"joint":[37],"configurations":[38],"(hip,":[39],"knee,":[40],"ankle)":[42],"along":[43],"with":[44],"major":[46,131],"structural":[48,142],"parts":[49,132],"(pelvis,":[50],"thigh,":[51],"shin)":[53],"are":[58,219],"discussed.":[59],"use":[61,153],"3D":[63],"printing":[64],"PLA+":[66],"material":[67],"makes":[68,169],"robot":[70,159,167],"an":[71],"affordable":[72],"solution":[73],"robotics":[76],"research":[77,175,232],"that":[78],"gives":[79],"high":[81],"power-to-weight":[82],"ratio":[83],"by":[84],"significantly":[85],"reducing":[86],"number":[88],"parts,":[90],"as":[91,93],"well":[92],"assembly":[96],"time.":[97],"range":[99],"motion":[101],"has":[108,126,185],"been":[109,127],"investigated":[110],"found":[113],"to":[114,117,139,145,173,208,223],"be":[115],"comparable":[116],"human":[119],"body.":[121],"Further,":[122],"finite":[123],"element":[124],"analysis":[125],"performed":[128],"on":[129,233],"check":[140],"integrity":[143],"avoid":[146],"catastrophic":[147],"failures":[148],"in":[149,178,198,216,228],"robot.":[151],"in-house":[155],"developed":[156],"actuators":[157],"electronics":[160],"reduces":[161],"overall":[163],"cost":[164],"easily":[171],"accessible":[172],"communities":[176],"working":[177],"field":[180,200],"humanoids.":[182],"Overall,":[183],"potential":[187],"becoming":[189],"popular":[190],"between":[191],"researchers":[192],"designers":[194],"investigating":[196],"applications":[197],"robotics,":[203],"healthcare,":[204],"manufacturing,":[206],"just":[207],"mention":[209],"few.":[211],"mechanical":[213],"designs":[214],"presented":[215],"work":[218],"available":[220],"open":[221],"source":[222],"knowledge":[226],"barrier":[227],"developing":[229],"conducting":[231],"bipedal":[234],"robots.":[235]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-21T01:58:51.020947","created_date":"2025-10-10T00:00:00"}
