{"id":"https://openalex.org/W4414110711","doi":"https://doi.org/10.1109/access.2025.3608584","title":"Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation","display_name":"Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation","publication_year":2025,"publication_date":"2025-01-01","ids":{"openalex":"https://openalex.org/W4414110711","doi":"https://doi.org/10.1109/access.2025.3608584"},"language":"en","primary_location":{"id":"doi:10.1109/access.2025.3608584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3608584","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2025.3608584","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5115021496","display_name":"Matteo Crotti","orcid":"https://orcid.org/0009-0008-5913-3779"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Crotti","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0009-0008-5913-3779","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192544","display_name":"Luca Rossini","orcid":"https://orcid.org/0000-0002-2114-3823"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Rossini","raw_affiliation_strings":["Humanoids and Human Centered Mechatronics Laboratory, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-2114-3823","affiliations":[{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics Laboratory, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Humanoids and Human Centered Mechatronics, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078967731","display_name":"B\u00e1lint K. Hodossy","orcid":"https://orcid.org/0000-0001-9901-0046"},"institutions":[{"id":"https://openalex.org/I47508984","display_name":"Imperial College London","ror":"https://ror.org/041kmwe10","country_code":"GB","type":"education","lineage":["https://openalex.org/I47508984"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Balint K. Hodossy","raw_affiliation_strings":["Department of Bioengineering, Imperial College London, London, U.K"],"raw_orcid":"https://orcid.org/0000-0001-9901-0046","affiliations":[{"raw_affiliation_string":"Department of Bioengineering, Imperial College London, London, U.K","institution_ids":["https://openalex.org/I47508984"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063563867","display_name":"Anna Pace","orcid":"https://orcid.org/0000-0002-4360-7668"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Anna Pace","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-4360-7668","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giorgio Grioli","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5310-2997","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0001-8635-5571","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Manuel G. Catalano","raw_affiliation_strings":["Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":"https://orcid.org/0000-0003-1950-6186","affiliations":[{"raw_affiliation_string":"Soft Robotics for Human Cooperation and Rehabilitation, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8446,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.73343787,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"13","issue":null,"first_page":"164818","last_page":"164828"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9829999804496765,"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/humanoid-robot","display_name":"Humanoid robot","score":0.6847000122070312},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.647599995136261},{"id":"https://openalex.org/keywords/soft-robotics","display_name":"Soft robotics","score":0.6291000247001648},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.5741999745368958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5236999988555908},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4074999988079071},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3693000078201294},{"id":"https://openalex.org/keywords/heel","display_name":"Heel","score":0.3555000126361847}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6847000122070312},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6797000169754028},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.647599995136261},{"id":"https://openalex.org/C2776058767","wikidata":"https://www.wikidata.org/wiki/Q24327151","display_name":"Soft robotics","level":3,"score":0.6291000247001648},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5741999745368958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5236999988555908},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5005000233650208},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46720001101493835},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4074999988079071},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3693000078201294},{"id":"https://openalex.org/C2777248721","wikidata":"https://www.wikidata.org/wiki/Q174647","display_name":"Heel","level":2,"score":0.3555000126361847},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.335099995136261},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3310000002384186},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.3303000032901764},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.32440000772476196},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.29789999127388},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28279998898506165},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.2793999910354614},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C204366326","wikidata":"https://www.wikidata.org/wiki/Q3027650","display_name":"Deformation (meteorology)","level":2,"score":0.25040000677108765}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2025.3608584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3608584","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:aaae8b3b3cc84ce8bf3d6e346058e4b8","is_oa":true,"landing_page_url":"https://doaj.org/article/aaae8b3b3cc84ce8bf3d6e346058e4b8","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,"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":"IEEE Access, Vol 13, Pp 164818-164828 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2025.3608584","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2025.3608584","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1570792896","https://openalex.org/W1968560077","https://openalex.org/W2018855542","https://openalex.org/W2047579296","https://openalex.org/W2079591266","https://openalex.org/W2084693106","https://openalex.org/W2120442417","https://openalex.org/W2123047960","https://openalex.org/W2218748295","https://openalex.org/W2547678094","https://openalex.org/W2565386209","https://openalex.org/W2588211988","https://openalex.org/W2621070834","https://openalex.org/W2758608192","https://openalex.org/W2914140423","https://openalex.org/W2914446816","https://openalex.org/W2914981446","https://openalex.org/W2967793392","https://openalex.org/W2986622186","https://openalex.org/W2998412969","https://openalex.org/W3002979680","https://openalex.org/W3010682736","https://openalex.org/W4250058668","https://openalex.org/W4285085743","https://openalex.org/W4313563148","https://openalex.org/W4313584467","https://openalex.org/W4393144910","https://openalex.org/W4394992976","https://openalex.org/W4399727817"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W4390135167","https://openalex.org/W2067477688","https://openalex.org/W3104537609","https://openalex.org/W4231453746","https://openalex.org/W4242718759","https://openalex.org/W2332067308","https://openalex.org/W4376605692","https://openalex.org/W2940850594"],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"artificial":[3],"feet":[4],"based":[5,102],"on":[6,16,90,103,118,129,137,144],"soft":[7,37,48,193],"robotics":[8],"and":[9,58,76,106,141],"under-actuation":[10],"principles":[11],"emerged":[12],"to":[13,29,55,60,64,174],"improve":[14],"mobility":[15],"challenging":[17],"terrains.":[18],"This":[19],"paper":[20],"presents":[21],"the":[22,25,46,68,74,115,119,130,138,145,157,171,205],"application":[23],"of":[24,34,156,199,204],"MuJoCo":[26,47],"physics":[27],"engine":[28],"realize":[30],"a":[31,84,91,126,187],"digital":[32,50],"twin":[33,51],"an":[35,168],"adaptive":[36,192],"foot":[38,49,120,131,139,146,149],"developed":[39],"for":[40,191],"use":[41],"with":[42,73,87,122,202],"legged":[43],"robots.We":[44],"release":[45],"as":[52],"open":[53],"source":[54],"allow":[56],"users":[57],"researchers":[59],"explore":[61],"new":[62],"approaches":[63],"locomotion.":[65],"Thework":[66],"includes":[67],"system":[69],"modeling":[70,189],"techniques":[71],"along":[72],"kinematic":[75],"dynamic":[77],"attributes":[78],"involved.":[79],"Validation":[80],"is":[81,151],"conducted":[82],"through":[83],"rigorous":[85],"comparison":[86],"bench":[88],"tests":[89],"physical":[92],"prototype,":[93],"replicating":[94],"these":[95],"experiments":[96],"in":[97,170],"simulation.":[98],"Results":[99,166],"are":[100],"evaluated":[101],"sole":[104,121],"deformation":[105],"contact":[107],"forces":[108,116],"during":[109],"foot-obstacle":[110],"interaction.":[111],"The":[112,148],"model":[113,150],"estimates":[114],"distribution":[117],"good":[123],"accuracy,":[124],"reaching":[125],"10.5%":[127],"error":[128,136,143],"heel":[132],"force":[133],"estimation,":[134],"21.2%":[135],"modules,":[140],"13.1%":[142],"metatarsus.":[147],"subsequently":[152],"integrated":[153],"into":[154],"simulations":[155],"humanoid":[158],"robot":[159],"COMAN+,":[160],"replacing":[161],"its":[162,180],"original":[163],"flat":[164],"feet.":[165,208],"show":[167],"improvement":[169],"robot\u2019s":[172],"ability":[173],"negotiate":[175],"small":[176],"obstacles":[177],"without":[178],"altering":[179],"control":[181],"strategy.":[182],"Ultimately,":[183],"this":[184],"study":[185],"offers":[186],"comprehensive":[188],"approach":[190],"feet,":[194],"supported":[195],"by":[196],"qualitative":[197],"comparisons":[198],"bipedal":[200],"locomotion":[201],"state":[203],"art":[206],"robotic":[207]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
