{"id":"https://openalex.org/W2752717011","doi":"https://doi.org/10.1109/aim.2017.8014184","title":"A parallel kinematic wrist for the R1 humanoid robot","display_name":"A parallel kinematic wrist for the R1 humanoid robot","publication_year":2017,"publication_date":"2017-07-01","ids":{"openalex":"https://openalex.org/W2752717011","doi":"https://doi.org/10.1109/aim.2017.8014184","mag":"2752717011"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2017.8014184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5057606006","display_name":"Anand Vazhapilli Sureshbabu","orcid":"https://orcid.org/0000-0001-8143-8714"},"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":"Anand Vazhapilli Sureshbabu","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029574449","display_name":"Jennifer Hong Chang","orcid":null},"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":"Jennifer Hong Chang","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054737335","display_name":"Luca Fiorio","orcid":"https://orcid.org/0000-0003-1424-8341"},"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 Fiorio","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046867604","display_name":"Alessandro Scalzo","orcid":"https://orcid.org/0009-0008-9553-8706"},"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":"Alessandro Scalzo","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"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 Metta","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072707307","display_name":"Alberto Parmiggiani","orcid":"https://orcid.org/0000-0003-1677-9381"},"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":"Alberto Parmiggiani","raw_affiliation_strings":["iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"iCub Facility, Fondazione Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":3.028,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.910114,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1215","last_page":"1220"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9939000010490417,"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/T13280","display_name":"Biomedical and Engineering Education","score":0.9883999824523926,"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/wrist","display_name":"Wrist","score":0.7694120407104492},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7692614197731018},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7118289470672607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6398848295211792},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5714235305786133},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5410020351409912},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5133954286575317},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5049384236335754},{"id":"https://openalex.org/keywords/consistency","display_name":"Consistency (knowledge bases)","score":0.48434364795684814},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4531257152557373},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.42537957429885864},{"id":"https://openalex.org/keywords/forearm","display_name":"Forearm","score":0.41075074672698975},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29866474866867065},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27804386615753174},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.11760357022285461}],"concepts":[{"id":"https://openalex.org/C2778216619","wikidata":"https://www.wikidata.org/wiki/Q185706","display_name":"Wrist","level":2,"score":0.7694120407104492},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7692614197731018},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7118289470672607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6398848295211792},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5714235305786133},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5410020351409912},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5133954286575317},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5049384236335754},{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.48434364795684814},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4531257152557373},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.42537957429885864},{"id":"https://openalex.org/C2780214079","wikidata":"https://www.wikidata.org/wiki/Q228537","display_name":"Forearm","level":2,"score":0.41075074672698975},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29866474866867065},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27804386615753174},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.11760357022285461},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2017.8014184","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2017.8014184","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.699999988079071}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1802865276","https://openalex.org/W1978360037","https://openalex.org/W2055729139","https://openalex.org/W2061625434","https://openalex.org/W2069944467","https://openalex.org/W2077129956","https://openalex.org/W2083299018","https://openalex.org/W2120693140","https://openalex.org/W2130280438","https://openalex.org/W2130912818","https://openalex.org/W2139086916","https://openalex.org/W2160686985","https://openalex.org/W2170553811","https://openalex.org/W3108108973","https://openalex.org/W3147253688","https://openalex.org/W6638542521","https://openalex.org/W6666007946"],"related_works":["https://openalex.org/W1982166191","https://openalex.org/W2735375504","https://openalex.org/W2383718787","https://openalex.org/W1989578999","https://openalex.org/W2071621727","https://openalex.org/W2058647376","https://openalex.org/W826548490","https://openalex.org/W2885273849","https://openalex.org/W2418198049","https://openalex.org/W2150388832"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,48,51],"conception,":[4],"design,":[5],"fabrication":[6],"and":[7,39,53,58,69],"testing":[8],"of":[9,21,50],"a":[10,13,22],"wrist":[11,18,33],"for":[12,65],"new":[14],"humanoid":[15],"robot.":[16],"The":[17,32,41],"is":[19,43,54],"comprised":[20],"three":[23,30],"degrees-of-freedom":[24],"(DOF)":[25],"parallel":[26],"mechanism":[27],"actuated":[28],"by":[29],"motors.":[31],"was":[34,62],"made":[35],"to":[36,45],"be":[37],"lightweight":[38],"cost-efficient.":[40],"design":[42],"optimized":[44],"fit":[46],"within":[47],"forearm":[49],"robot":[52],"equipped":[55],"with":[56],"joint":[57],"calibration":[59],"sensors.":[60],"It":[61],"then":[63],"tested":[64],"consistency":[66],"in":[67],"performance":[68],"positioning":[70],"accuracy.":[71]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}