{"id":"https://openalex.org/W1607594797","doi":"https://doi.org/10.1109/aim.2015.7222529","title":"KARL: A new bio-inspired modular limb for robotic applications","display_name":"KARL: A new bio-inspired modular limb for robotic applications","publication_year":2015,"publication_date":"2015-07-01","ids":{"openalex":"https://openalex.org/W1607594797","doi":"https://doi.org/10.1109/aim.2015.7222529","mag":"1607594797"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2015.7222529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5066685976","display_name":"Mariapaola D\u2019Imperio","orcid":"https://orcid.org/0000-0002-6649-5320"},"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":"Mariapaola D'Imperio","raw_affiliation_strings":["Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086638747","display_name":"Luca Carbonari","orcid":"https://orcid.org/0000-0003-4342-3751"},"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 Carbonari","raw_affiliation_strings":["Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086900998","display_name":"Nahian Rahman","orcid":"https://orcid.org/0000-0002-5165-2821"},"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":"Nahian Rahman","raw_affiliation_strings":["Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058024285","display_name":"C. Canali","orcid":"https://orcid.org/0000-0001-8366-7334"},"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":"Carlo Canali","raw_affiliation_strings":["Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065930752","display_name":"Ferdinando Cannella","orcid":"https://orcid.org/0000-0001-7602-1850"},"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":"Ferdinando Cannella","raw_affiliation_strings":["Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"[Advanced Robotics, Department of Istituto Italiano di Tecnologia, Genoa, Italy]","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.03078079,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"51","issue":null,"first_page":"183","last_page":"188"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.996399998664856,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9950000047683716,"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/kinematics","display_name":"Kinematics","score":0.830834150314331},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7565003633499146},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.7369335889816284},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6775446534156799},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.637378454208374},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6367623805999756},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5983378887176514},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4995996952056885},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.43940457701683044},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.43922746181488037},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.43792420625686646},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42620593309402466},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4245580732822418},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41971415281295776},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.39848828315734863},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.37445223331451416},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.3577798306941986},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3497335612773895},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24026018381118774},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17512866854667664},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13789361715316772},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.12157049775123596},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10702931880950928}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.830834150314331},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7565003633499146},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.7369335889816284},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6775446534156799},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.637378454208374},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6367623805999756},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5983378887176514},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4995996952056885},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.43940457701683044},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43922746181488037},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.43792420625686646},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42620593309402466},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4245580732822418},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41971415281295776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39848828315734863},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.37445223331451416},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3577798306941986},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3497335612773895},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24026018381118774},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17512866854667664},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13789361715316772},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.12157049775123596},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10702931880950928},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/aim.2015.7222529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2015.7222529","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.univpm.it:11566/296802","is_oa":false,"landing_page_url":"http://hdl.handle.net/11566/296802","pdf_url":null,"source":{"id":"https://openalex.org/S4306402571","display_name":"Universit\u00e0 Politecnica delle Marche (Universit\u00e0 Politecnica delle Marche)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122534668","host_organization_name":"Marche Polytechnic University","host_organization_lineage":["https://openalex.org/I122534668"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8100000023841858,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W70213806","https://openalex.org/W78523096","https://openalex.org/W179893673","https://openalex.org/W1977039175","https://openalex.org/W1980915507","https://openalex.org/W2009721615","https://openalex.org/W2011251199","https://openalex.org/W2023820973","https://openalex.org/W2026769304","https://openalex.org/W2039279693","https://openalex.org/W2043187081","https://openalex.org/W2088595077","https://openalex.org/W2111904757","https://openalex.org/W2114609123","https://openalex.org/W2117364466","https://openalex.org/W2132706788","https://openalex.org/W2140638079","https://openalex.org/W2143070422","https://openalex.org/W2160221287","https://openalex.org/W2280588372","https://openalex.org/W2285520882","https://openalex.org/W2341668857","https://openalex.org/W3023988802","https://openalex.org/W6644343456","https://openalex.org/W6980261897"],"related_works":["https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2906293295","https://openalex.org/W2245353192","https://openalex.org/W2573562027","https://openalex.org/W2044589112","https://openalex.org/W2521586893","https://openalex.org/W1571967584","https://openalex.org/W2188526576"],"abstract_inverted_index":{"The":[0,52,114],"modular":[1],"and":[2,19,63,104,130],"self-reconfigurable":[3],"mechanisms":[4,66],"are":[5],"arising":[6],"the":[7,10,58,80,89,102,107,117],"interest":[8],"of":[9,17,46,60,76,95,120],"robotics":[11],"research":[12],"community":[13],"for":[14,33,49],"their":[15],"peculiarities":[16],"flexibility":[18],"cost":[20],"effectiveness.":[21],"In":[22,87],"this":[23,25,121],"scenario,":[24],"work":[26],"presents":[27],"a":[28,37,42,69,136],"newly":[29],"conceived":[30],"device":[31],"suitable":[32],"being":[34,77],"used":[35],"as":[36,39,41],"limb,":[38],"well":[40],"planar":[43],"two":[44,96],"degrees":[45],"freedom":[47],"manipulator,":[48],"robotic":[50],"applications.":[51],"concept":[53],"design":[54],"here":[55],"exposed":[56],"merges":[57],"features":[59],"both":[61],"parallel":[62],"serial":[64],"kinematic":[65,112],"to":[67,82,106,135],"obtain":[68],"limb":[70,123],"whose":[71],"primary":[72],"characteristic":[73],"is":[74,85,91],"that":[75],"independent":[78],"from":[79],"frame":[81],"whom":[83],"it":[84],"connected.":[86],"fact":[88],"actuation":[90],"realized":[92],"by":[93],"means":[94],"linear":[97],"motors":[98],"directly":[99],"arranged":[100],"on":[101],"body":[103],"connected":[105],"chassis":[108],"through":[109],"different":[110],"closed":[111],"chains.":[113],"manuscript":[115],"introduces":[116],"formal":[118],"aspects":[119],"novel":[122],"facing":[124],"position,":[125],"differential":[126],"kinematics,":[127],"expected":[128],"performances":[129],"experimental":[131],"results":[132],"obtained":[133],"thanks":[134],"specifically":[137],"built":[138],"prototype.":[139]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
