{"id":"https://openalex.org/W4313562910","doi":"https://doi.org/10.1109/humanoids53995.2022.10000126","title":"A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion","display_name":"A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313562910","doi":"https://doi.org/10.1109/humanoids53995.2022.10000126"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000126","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000126","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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/A5011846039","display_name":"Konrad Fr\u00fcnd","orcid":"https://orcid.org/0000-0002-9581-8045"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Konrad Frund","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024908151","display_name":"Anton Shu","orcid":"https://orcid.org/0000-0002-8825-6697"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Anton Leonhard Shu","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026598370","display_name":"Florian Loeffl","orcid":"https://orcid.org/0000-0002-6914-5414"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Christoph Loeffl","raw_affiliation_strings":["Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics,German Aerospace Center (DLR),Wessling,Germany,82234","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I145847075","display_name":"TU Wien","ror":"https://ror.org/04d836q62","country_code":"AT","type":"education","lineage":["https://openalex.org/I145847075"]}],"countries":["AT"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Automation and Control Institute,Faculty of Electrical Engineering and Information Technology, TU Wien,Vienna,Austria,1040"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automation and Control Institute,Faculty of Electrical Engineering and Information Technology, TU Wien,Vienna,Austria,1040","institution_ids":["https://openalex.org/I145847075"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5011846039"],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":1.9187,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.87895605,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"60","last_page":"66"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.998199999332428,"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":0.9807999730110168,"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":0.7873080968856812},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7436418533325195},{"id":"https://openalex.org/keywords/sagittal-plane","display_name":"Sagittal plane","score":0.6897700428962708},{"id":"https://openalex.org/keywords/oblique-case","display_name":"Oblique case","score":0.6868323683738708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.604655385017395},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4512150287628174},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42785680294036865},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.411862850189209},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38732343912124634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38649773597717285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.309226393699646},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16814127564430237},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.14228683710098267},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.07186263799667358}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7873080968856812},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7436418533325195},{"id":"https://openalex.org/C178910020","wikidata":"https://www.wikidata.org/wiki/Q2211994","display_name":"Sagittal plane","level":2,"score":0.6897700428962708},{"id":"https://openalex.org/C160697094","wikidata":"https://www.wikidata.org/wiki/Q1233197","display_name":"Oblique case","level":2,"score":0.6868323683738708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.604655385017395},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4512150287628174},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42785680294036865},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.411862850189209},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38732343912124634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38649773597717285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.309226393699646},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16814127564430237},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.14228683710098267},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.07186263799667358},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000126","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/humanoids53995.2022.10000126","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:elib.dlr.de:192270","is_oa":false,"landing_page_url":"https://doi.org/10.1109/Humanoids53995.2022.10000126>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"PeerReviewed"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4012103160","display_name":"Utilizing Natural Dynamics for Reliable Legged Locomotion","funder_award_id":"819358","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6120522567","display_name":"Utilizing Natural Dynamics for Reliable Legged Locomotion","funder_award_id":"819358","funder_id":"https://openalex.org/F4320338335","funder_display_name":"H2020 European Research Council"},{"id":"https://openalex.org/G7842005466","display_name":null,"funder_award_id":"Horizon 2020","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320338335","display_name":"H2020 European Research Council","ror":"https://ror.org/0472cxd90"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W30439953","https://openalex.org/W618252706","https://openalex.org/W1972588742","https://openalex.org/W1981918565","https://openalex.org/W1997097100","https://openalex.org/W1998190252","https://openalex.org/W2003013030","https://openalex.org/W2008342119","https://openalex.org/W2009317155","https://openalex.org/W2018230820","https://openalex.org/W2024635571","https://openalex.org/W2028286361","https://openalex.org/W2045906018","https://openalex.org/W2049135373","https://openalex.org/W2061807713","https://openalex.org/W2068169606","https://openalex.org/W2079591266","https://openalex.org/W2080188165","https://openalex.org/W2083586968","https://openalex.org/W2085698250","https://openalex.org/W2092051982","https://openalex.org/W2124438859","https://openalex.org/W2138136244","https://openalex.org/W2139255095","https://openalex.org/W2144952390","https://openalex.org/W2146695244","https://openalex.org/W2163668399","https://openalex.org/W2164452475","https://openalex.org/W2167498879","https://openalex.org/W2289628494","https://openalex.org/W2290543732","https://openalex.org/W2438600268","https://openalex.org/W2569517946","https://openalex.org/W2598773406","https://openalex.org/W2771315035","https://openalex.org/W2777364553","https://openalex.org/W2793947087","https://openalex.org/W2891411207","https://openalex.org/W3014865320","https://openalex.org/W4205401326","https://openalex.org/W4231228358","https://openalex.org/W6601221576"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2385104873","https://openalex.org/W2129850190","https://openalex.org/W2378808635","https://openalex.org/W2782123108","https://openalex.org/W2097859795","https://openalex.org/W2394589913","https://openalex.org/W2027405801","https://openalex.org/W3010767390","https://openalex.org/W1973426925"],"abstract_inverted_index":{"The":[0,85,129],"kinematics":[1,17],"of":[2,15,18,59,66,81,95,121,131,143],"humanoid":[3,42,145],"robots":[4,102],"are":[5,29,87],"strongly":[6],"inspired":[7],"by":[8],"the":[9,16,19,25,39,55,60,67,75,79,92,113,119,124,140],"human":[10,20,26,68],"archetype.":[11],"A":[12],"close":[13],"analysis":[14,133],"musculoskeletal":[21,69],"system":[22],"reveals":[23],"that":[24],"joint":[27,50,57,109],"axes":[28,58,77],"oriented":[30],"within":[31],"certain":[32],"inclinations.":[33],"This":[34,52],"is":[35,116],"in":[36],"contrast":[37],"to":[38,117,123],"most":[40],"popular":[41],"design":[43,142],"with":[44],"a":[45,137,144,148],"configuration":[46],"based":[47],"on":[48,73],"perpendicular":[49],"axes.":[51,110],"paper":[53],"reviews":[54],"oblique":[56,76,108],"mainly":[61,125],"involved":[62],"joints":[63],"for":[64,91,139,150],"locomotion":[65,93],"system.":[70],"We":[71],"elaborate":[72],"how":[74],"affect":[78],"performance":[80],"walking":[82,96,101],"and":[83,97,147],"running.":[84,98],"mechanisms":[86],"put":[88],"into":[89],"perspective":[90],"types":[94],"In":[99],"particular,":[100],"can":[103,134],"highly":[104],"benefit":[105],"from":[106],"using":[107],"For":[111],"running,":[112],"primary":[114],"goal":[115],"align":[118],"axis":[120],"motion":[122],"active":[126],"sagittal":[127],"plane.":[128],"results":[130],"this":[132],"serve":[135],"as":[136],"guideline":[138],"kinematic":[141],"robot":[146],"prior":[149],"optimization-based":[151],"approaches.":[152]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}
