{"id":"https://openalex.org/W4404954577","doi":"https://doi.org/10.1109/humanoids58906.2024.10769592","title":"Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture","display_name":"Surena-V: A Humanoid Robot for Human-Robot Collaboration with Optimization-based Control Architecture","publication_year":2024,"publication_date":"2024-11-22","ids":{"openalex":"https://openalex.org/W4404954577","doi":"https://doi.org/10.1109/humanoids58906.2024.10769592"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids58906.2024.10769592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2501.17313","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044314423","display_name":"Mohammad Ali Bazrafshani","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mohammad Ali Bazrafshani","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019618228","display_name":"Aghil Yousefi\u2010Koma","orcid":"https://orcid.org/0000-0002-0705-3338"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Aghil Yousefi-Koma","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050338656","display_name":"Amin Amani","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Amin Amani","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027506387","display_name":"Behnam Maleki","orcid":"https://orcid.org/0000-0003-2403-1197"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Behnam Maleki","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114971851","display_name":"Shahab Batmani","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Shahab Batmani","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Arezoo Dehestani Ardakani","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Arezoo Dehestani Ardakani","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5104236270","display_name":"Sajedeh Taheri","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Sajedeh Taheri","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093696867","display_name":"Parsa Yazdankhah","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Parsa Yazdankhah","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114122812","display_name":"Mahdi Nozari","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Mahdi Nozari","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5093696868","display_name":"Amin Mozayyan","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Amin Mozayyan","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102906336","display_name":"Alireza Naeini","orcid":"https://orcid.org/0000-0003-3248-9421"},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Alireza Naeini","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003112800","display_name":"Milad Shafiee","orcid":null},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Milad Shafiee","raw_affiliation_strings":["&#x00C9;cole polytechnique f&#x00E9;d&#x00E9;rale de Lausanne (EPFL)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"&#x00C9;cole polytechnique f&#x00E9;d&#x00E9;rale de Lausanne (EPFL)","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023048455","display_name":"Amirhosein Vedadi","orcid":null},"institutions":[{"id":"https://openalex.org/I23946033","display_name":"University of Tehran","ror":"https://ror.org/05vf56z40","country_code":"IR","type":"education","lineage":["https://openalex.org/I23946033"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"Amirhosein Vedadi","raw_affiliation_strings":["University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tehran,Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering,Tehran,Iran","institution_ids":["https://openalex.org/I23946033"]},{"raw_affiliation_string":"Center of Advanced Systems and Technologies (CAST) School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran","institution_ids":["https://openalex.org/I23946033"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.154,"has_fulltext":true,"cited_by_count":1,"citation_normalized_percentile":{"value":0.46509854,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"615","last_page":"622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994000196456909,"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":0.9994000196456909,"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":0.9927999973297119,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9652000069618225,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8132026195526123},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6829530000686646},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6659277677536011},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5924973487854004},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.570576012134552},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48358744382858276},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46252521872520447},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4581938683986664},{"id":"https://openalex.org/keywords/human\u2013robot-interaction","display_name":"Human\u2013robot interaction","score":0.42656210064888},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40627387166023254},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40310922265052795},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3973662257194519},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3917810916900635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3899040222167969}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8132026195526123},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6829530000686646},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6659277677536011},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5924973487854004},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.570576012134552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48358744382858276},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46252521872520447},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4581938683986664},{"id":"https://openalex.org/C145460709","wikidata":"https://www.wikidata.org/wiki/Q859951","display_name":"Human\u2013robot interaction","level":3,"score":0.42656210064888},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40627387166023254},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40310922265052795},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3973662257194519},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3917810916900635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3899040222167969},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids58906.2024.10769592","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids58906.2024.10769592","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2501.17313","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2501.17313","pdf_url":"https://arxiv.org/pdf/2501.17313","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2501.17313","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2501.17313","pdf_url":"https://arxiv.org/pdf/2501.17313","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"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":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4404954577.pdf","grobid_xml":"https://content.openalex.org/works/W4404954577.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W2058521945","https://openalex.org/W2114628570","https://openalex.org/W2115895912","https://openalex.org/W2593996575","https://openalex.org/W2966463142","https://openalex.org/W2967793392","https://openalex.org/W3002174616","https://openalex.org/W3132799815","https://openalex.org/W3177449912","https://openalex.org/W3205475142","https://openalex.org/W4206318770","https://openalex.org/W4286890426","https://openalex.org/W4313563061","https://openalex.org/W4390481038","https://openalex.org/W4391341438","https://openalex.org/W4391341806","https://openalex.org/W4391341852","https://openalex.org/W4391342675","https://openalex.org/W6803256779"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2362004994","https://openalex.org/W1965124047"],"abstract_inverted_index":{"This":[0,32,133],"paper":[1],"presents":[2],"Surena-V,":[3],"a":[4,16,44,127,131,144],"humanoid":[5,140],"robot":[6,14],"designed":[7],"to":[8,27,42,102,136],"enhance":[9],"human-robot":[10,153],"collaboration":[11,125,154],"capabilities.":[12],"The":[13,112],"features":[15],"range":[17],"of":[18,94,114,139],"sensors,":[19],"including":[20],"barometric":[21],"tactile":[22],"sensors":[23],"in":[24,129],"its":[25],"hands,":[26],"facilitate":[28],"precise":[29],"environmental":[30,156],"interaction.":[31],"is":[33,83,117],"demonstrated":[34],"through":[35,48,70,119],"an":[36,120],"experiment":[37,121],"showcasing":[38],"the":[39,77,81,123,137],"robot\u2019s":[40,78,124],"ability":[41],"control":[43,61,105,149],"medical":[45],"needle\u2019s":[46],"movement":[47,73],"soft":[49],"material.":[50],"Surena-V\u2019s":[51],"operational":[52],"framework":[53],"emphasizes":[54],"stability":[55],"and":[56,74,87,148,155],"collaboration,":[57],"employing":[58],"various":[59],"optimization-based":[60],"strategies":[62],"such":[63],"as":[64],"Zero":[65],"Moment":[66],"Point":[67],"(ZMP)":[68],"modification":[69],"upper":[71],"body":[72],"stepping.":[75],"Notably,":[76],"interaction":[79],"with":[80,126],"environment":[82],"improved":[84],"by":[85,142],"detecting":[86],"interpreting":[88],"external":[89,110],"forces":[90],"at":[91],"their":[92],"point":[93],"effect,":[95],"allowing":[96],"for":[97],"more":[98],"agile":[99],"responses":[100],"compared":[101],"methods":[103],"that":[104],"overall":[106],"balance":[107],"based":[108],"on":[109,152],"forces.":[111],"efficacy":[113],"this":[115],"architecture":[116,150],"substantiated":[118],"illustrating":[122],"human":[128],"moving":[130],"bar.":[132],"work":[134],"contributes":[135],"field":[138],"robotics":[141],"presenting":[143],"comprehensive":[145],"system":[146],"design":[147],"focused":[151],"adaptability.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}
