{"id":"https://openalex.org/W2545685648","doi":"https://doi.org/10.1109/ichr.2004.1442123","title":"Advanced steps in biped robotics: innovative design and intuitive control through spring-damper actuator","display_name":"Advanced steps in biped robotics: innovative design and intuitive control through spring-damper actuator","publication_year":2005,"publication_date":"2005-07-28","ids":{"openalex":"https://openalex.org/W2545685648","doi":"https://doi.org/10.1109/ichr.2004.1442123","mag":"2545685648"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2004.1442123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://nur.nu.edu.kz/handle/123456789/2333","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078334425","display_name":"Umberto Scarfogliero","orcid":null},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"U. Scarfogliero","raw_affiliation_strings":["Department of Electronic and Information, Politecnico of Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information, Politecnico of Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042483166","display_name":"Michele Folgheraiter","orcid":"https://orcid.org/0000-0001-6003-4585"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"M. Folgheraiter","raw_affiliation_strings":["Department of Electronic and Information, Politecnico of Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information, Politecnico of Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043925430","display_name":"Giuseppina Gini","orcid":"https://orcid.org/0000-0002-0334-420X"},"institutions":[{"id":"https://openalex.org/I93860229","display_name":"Politecnico di Milano","ror":"https://ror.org/01nffqt88","country_code":"IT","type":"education","lineage":["https://openalex.org/I93860229"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"G. Gini","raw_affiliation_strings":["Department of Electronic and Information, Politecnico of Milano, Milan, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electronic and Information, Politecnico of Milano, Milan, Italy","institution_ids":["https://openalex.org/I93860229"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I93860229"],"apc_list":null,"apc_paid":null,"fwci":1.4722,"has_fulltext":false,"cited_by_count":18,"citation_normalized_percentile":{"value":0.82683945,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"1","issue":null,"first_page":"196","last_page":"214"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9990000128746033,"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":0.9887999892234802,"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/actuator","display_name":"Actuator","score":0.6882474422454834},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6567956209182739},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.619900107383728},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5790566205978394},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5593730211257935},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.5331054925918579},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5194651484489441},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5067353844642639},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4940953552722931},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.48327285051345825},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4336369037628174},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4091576337814331},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.37846043705940247},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16590061783790588},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.10084781050682068},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08164125680923462}],"concepts":[{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6882474422454834},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6567956209182739},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.619900107383728},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5790566205978394},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5593730211257935},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.5331054925918579},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5194651484489441},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5067353844642639},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4940953552722931},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.48327285051345825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4336369037628174},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4091576337814331},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.37846043705940247},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16590061783790588},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.10084781050682068},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08164125680923462},{"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ichr.2004.1442123","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442123","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"4th IEEE/RAS International Conference on Humanoid Robots, 2004.","raw_type":"proceedings-article"},{"id":"pmh:oai:testnur.nu.edu.kz:123456789/2333","is_oa":true,"landing_page_url":"http://nur.nu.edu.kz/handle/123456789/2333","pdf_url":null,"source":{"id":"https://openalex.org/S4377196417","display_name":"Nazarbayev University Repository (Nazarbayev University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60559429","host_organization_name":"Nazarbayev University","host_organization_lineage":["https://openalex.org/I60559429"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},{"id":"pmh:oai:re.public.polimi.it:11311/543701","is_oa":false,"landing_page_url":"http://hdl.handle.net/11311/543701","pdf_url":null,"source":{"id":"https://openalex.org/S4306400312","display_name":"Virtual Community of Pathological Anatomy (University of Castilla La Mancha)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79189158","host_organization_name":"University of Castilla-La Mancha","host_organization_lineage":["https://openalex.org/I79189158"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:testnur.nu.edu.kz:123456789/2333","is_oa":true,"landing_page_url":"http://nur.nu.edu.kz/handle/123456789/2333","pdf_url":null,"source":{"id":"https://openalex.org/S4377196417","display_name":"Nazarbayev University Repository (Nazarbayev University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I60559429","host_organization_name":"Nazarbayev University","host_organization_lineage":["https://openalex.org/I60559429"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"},"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W97064597","https://openalex.org/W1560468530","https://openalex.org/W1639534865","https://openalex.org/W1780110425","https://openalex.org/W1903937396","https://openalex.org/W1979789877","https://openalex.org/W1990047283","https://openalex.org/W1996763811","https://openalex.org/W2015143538","https://openalex.org/W2016102421","https://openalex.org/W2046700432","https://openalex.org/W2056032492","https://openalex.org/W2060874155","https://openalex.org/W2065942939","https://openalex.org/W2086587468","https://openalex.org/W2099447959","https://openalex.org/W2111253117","https://openalex.org/W2137467440","https://openalex.org/W2142190957","https://openalex.org/W2142992961","https://openalex.org/W2163668399","https://openalex.org/W2167010174","https://openalex.org/W2413232331","https://openalex.org/W2417503868","https://openalex.org/W2463582156","https://openalex.org/W3158839622","https://openalex.org/W6647722743"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2143454724"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3],"the":[4,39,42,55,69,87,91,110,122],"study":[5],"and":[6,45,60,94],"design":[7],"of":[8,19,22,41],"an":[9,62],"anthropomorphical":[10],"light":[11],"biped":[12],"robot.":[13],"The":[14,81],"robot":[15],"presents":[16],"a":[17,29,32,76],"total":[18],"twelve":[20],"degree":[21],"freedom":[23],"that":[24,65],"permit":[25],"it":[26],"to":[27,67,85,96,101],"perform":[28],"walk":[30],"in":[31,54,72],"three":[33],"dimensional":[34],"space.":[35],"Each":[36],"joint":[37,70],"resemble":[38],"functionalities":[40],"human":[43],"articulation":[44],"is":[46,83],"moved":[47],"by":[48],"tendons":[49],"connected":[50],"with":[51,114,121],"actuators":[52],"located":[53],"robot's":[56],"pelvis.":[57],"We":[58],"implemented":[59],"tested":[61],"innovative":[63],"actuator":[64],"permits":[66],"set":[68],"stiffness":[71],"real":[73],"time":[74],"maintaining":[75],"simple":[77],"position":[78],"control":[79,112],"paradigm.":[80],"controller":[82],"able":[84],"estimate":[86],"external":[88],"load":[89],"measuring":[90],"spring":[92],"deflection":[93],"demonstrated":[95],"be":[97],"particularly":[98],"robust":[99],"respect":[100],"system":[102],"uncertainties,":[103],"such":[104],"as":[105],"inertia":[106],"value":[107],"changes.":[108],"Comparing":[109],"resulting":[111],"law":[113],"existing":[115],"models":[116],"we":[117],"found":[118],"several":[119],"similarities":[120],"equilibrium":[123],"point":[124],"theory.":[125]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
