{"id":"https://openalex.org/W4313563148","doi":"https://doi.org/10.1109/humanoids53995.2022.10000240","title":"A study on the benefits of using variable stiffness feet for humanoid walking on rough terrains","display_name":"A study on the benefits of using variable stiffness feet for humanoid walking on rough terrains","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563148","doi":"https://doi.org/10.1109/humanoids53995.2022.10000240"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000240","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":true,"oa_status":"green","oa_url":"https://cnrs.hal.science/hal-03883330","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025394317","display_name":"Irene Frizza","orcid":"https://orcid.org/0000-0001-5272-1051"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Irene Frizza","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hiroshi Kaminaga","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ko Ayusawa","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","The University of Tokyo, Japan","CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL,Tsukuba,Ibaraki,Japan","institution_ids":[]},{"raw_affiliation_string":"The University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Ibaraki, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5025394317"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.2855,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.81200966,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"427","last_page":"434"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9944999814033508,"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":0.9786999821662903,"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/stiffness","display_name":"Stiffness","score":0.8261886835098267},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7654604911804199},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6218293309211731},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5777512788772583},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5634351968765259},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4391353726387024},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4294849932193756},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.382408082485199},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3240647315979004},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.29301950335502625},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2618555724620819},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.23901355266571045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22343546152114868},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1388595700263977},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.0658196210861206},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.0648675262928009},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06347900629043579}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8261886835098267},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7654604911804199},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6218293309211731},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5777512788772583},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5634351968765259},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4391353726387024},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4294849932193756},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.382408082485199},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3240647315979004},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.29301950335502625},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2618555724620819},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23901355266571045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22343546152114868},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1388595700263977},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0658196210861206},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.0648675262928009},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06347900629043579},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000240","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000240","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:HAL:hal-03883330v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-03883330","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.humanoids2022.org/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-03883330v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-03883330","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.humanoids2022.org/","raw_type":"Conference papers"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7300000190734863}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1954633095","https://openalex.org/W2003521024","https://openalex.org/W2040669665","https://openalex.org/W2049588613","https://openalex.org/W2079591266","https://openalex.org/W2080188165","https://openalex.org/W2100481084","https://openalex.org/W2107794792","https://openalex.org/W2120693140","https://openalex.org/W2123047960","https://openalex.org/W2131833652","https://openalex.org/W2134111516","https://openalex.org/W2135359004","https://openalex.org/W2142992961","https://openalex.org/W2414626330","https://openalex.org/W2540393540","https://openalex.org/W2568550321","https://openalex.org/W2898188248","https://openalex.org/W2967793392","https://openalex.org/W3000346826","https://openalex.org/W3010682736","https://openalex.org/W3150631816","https://openalex.org/W3155757796","https://openalex.org/W4220795678","https://openalex.org/W4249954177"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W1992962589","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W3032871857","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913"],"abstract_inverted_index":{"This":[0],"work":[1],"aims":[2],"to":[3,95],"study":[4],"the":[5,8,25,28,36,41,65,69,96,100,103,113,123,142,145,150,159,164],"effects":[6],"of":[7,11,27,47,50,75,83,105,122,144,158],"variable":[9,29,91,139,146],"stiffness":[10,30,71,92,110,140,147],"a":[12,51,56,90],"compliant":[13,57,130,136],"foot":[14,58,162],"on":[15,44],"humanoid":[16,52],"locomotion":[17],"performance.":[18],"Through":[19],"dynamical":[20],"simulations,":[21],"we":[22,154],"demonstrate":[23],"that":[24],"introduction":[26],"feet,":[31],"changing":[32],"in":[33,64,163],"conjunction":[34],"with":[35,60,78,126,132,138],"ground":[37,97,106],"roughness":[38,98],"significantly":[39],"improves":[40],"walking":[42],"performance":[43],"different":[45,73,84],"types":[46,74],"rough":[48],"terrain":[49],"robot.":[53],"We":[54,67,88],"propose":[55],"model":[59],"multiple":[61],"viscoelastic":[62],"elements":[63],"sole.":[66],"optimize":[68],"sole":[70,131,137],"for":[72],"uneven":[76],"terrains:":[77],"rocks,":[79],"tiles,":[80],"and":[81,86,108,135],"obstacles":[82],"shapes":[85],"dimensions.":[87],"implement":[89],"method":[93],"according":[94],"during":[99],"walking.":[101],"Furthermore,":[102],"timing":[104],"scanning":[107],"optimal":[109],"estimation":[111],"throw":[112],"k-nearest":[114],"neighbors":[115],"(KNN)":[116],"algorithm":[117],"is":[118],"described.":[119],"The":[120],"comparison":[121],"results":[124],"obtained":[125],"completely":[127],"flat":[128],"sole,":[129],"fixed":[133],"stiffness,":[134],"show":[141],"superiority":[143],"feet":[148],"over":[149],"two":[151],"others.":[152],"Finally,":[153],"present":[155],"some":[156],"limitations":[157],"flexible":[160],"robotic":[161],"dynamic":[165],"simulation.":[166]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}