{"id":"https://openalex.org/W2137473253","doi":"https://doi.org/10.1109/ichr.2010.5686851","title":"Cross four-bar linkage for the knees of a planar bipedal robot","display_name":"Cross four-bar linkage for the knees of a planar bipedal robot","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2137473253","doi":"https://doi.org/10.1109/ichr.2010.5686851","mag":"2137473253"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","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/A5040520450","display_name":"Arnaud Hamon","orcid":null},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"A. Hamon","raw_affiliation_strings":["IRCCyN, UMR 6597, Ecole Centrale de Nantes, Universit\u00e9 de Nantes, France","Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes"],"affiliations":[{"raw_affiliation_string":"IRCCyN, UMR 6597, Ecole Centrale de Nantes, Universit\u00e9 de Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035774557","display_name":"Yannick Aoustin","orcid":"https://orcid.org/0000-0002-3484-117X"},"institutions":[{"id":"https://openalex.org/I100445878","display_name":"\u00c9cole Centrale de Nantes","ror":"https://ror.org/03nh7d505","country_code":"FR","type":"education","lineage":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Y. Aoustin","raw_affiliation_strings":["IRCCyN, UMR 6597, Ecole Centrale de Nantes, Universit\u00e9 de Nantes, France","Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes"],"affiliations":[{"raw_affiliation_string":"IRCCyN, UMR 6597, Ecole Centrale de Nantes, Universit\u00e9 de Nantes, France","institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"]},{"raw_affiliation_string":"Institut de Recherche en Communications et en Cybern\u00e9tique de Nantes","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5040520450"],"corresponding_institution_ids":["https://openalex.org/I100445878","https://openalex.org/I97188460"],"apc_list":null,"apc_paid":null,"fwci":0.649,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.72984094,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"379","last_page":"384"},"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":0.9921000003814697,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9861000180244446,"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/linkage","display_name":"Linkage (software)","score":0.790252685546875},{"id":"https://openalex.org/keywords/bar","display_name":"Bar (unit)","score":0.6285227537155151},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5942732691764832},{"id":"https://openalex.org/keywords/four-bar-linkage","display_name":"Four-bar linkage","score":0.5777308344841003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5717446208000183},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5388102531433105},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33538997173309326},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2665597200393677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1708928644657135},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.10873311758041382},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.08172860741615295},{"id":"https://openalex.org/keywords/genetics","display_name":"Genetics","score":0.061021775007247925}],"concepts":[{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.790252685546875},{"id":"https://openalex.org/C188721877","wikidata":"https://www.wikidata.org/wiki/Q103510","display_name":"Bar (unit)","level":2,"score":0.6285227537155151},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5942732691764832},{"id":"https://openalex.org/C122920182","wikidata":"https://www.wikidata.org/wiki/Q2102938","display_name":"Four-bar linkage","level":3,"score":0.5777308344841003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5717446208000183},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5388102531433105},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33538997173309326},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2665597200393677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1708928644657135},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.10873311758041382},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.08172860741615295},{"id":"https://openalex.org/C54355233","wikidata":"https://www.wikidata.org/wiki/Q7162","display_name":"Genetics","level":1,"score":0.061021775007247925},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2010.5686851","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686851","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-00512467v1","is_oa":false,"landing_page_url":"https://hal.science/hal-00512467","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2010 IEEE-RAS International Conference on Humanoid Robots - Humanoids 2010, Dec 2010, Nashville, United States. pp.379-384","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W204370744","https://openalex.org/W1516152711","https://openalex.org/W1526823752","https://openalex.org/W1781654087","https://openalex.org/W1977031597","https://openalex.org/W1979475359","https://openalex.org/W1995551113","https://openalex.org/W2030515455","https://openalex.org/W2036484113","https://openalex.org/W2041880380","https://openalex.org/W2043416653","https://openalex.org/W2052539597","https://openalex.org/W2095734524","https://openalex.org/W2144834630","https://openalex.org/W2153726124","https://openalex.org/W2158730335","https://openalex.org/W2158794687","https://openalex.org/W2162870748","https://openalex.org/W2164844067","https://openalex.org/W2266380092","https://openalex.org/W2337991911","https://openalex.org/W2340251242","https://openalex.org/W2409407264","https://openalex.org/W2431291511","https://openalex.org/W2483373931","https://openalex.org/W2914067738","https://openalex.org/W3173138228","https://openalex.org/W4254111786","https://openalex.org/W6631003390"],"related_works":["https://openalex.org/W2118485229","https://openalex.org/W2389535891","https://openalex.org/W2364268392","https://openalex.org/W2382663788","https://openalex.org/W2385205802","https://openalex.org/W2368594856","https://openalex.org/W2378646426","https://openalex.org/W2382050265","https://openalex.org/W2050901119","https://openalex.org/W2016827119"],"abstract_inverted_index":{"Usually":[0],"the":[1,19,35,38,49,52,55,80,84,110,113,124,132,136],"bipedal":[2,59,90,106,138],"robots":[3,91,107],"use":[4],"knee":[5,21,40,81,95],"joints":[6,96],"with":[7,27],"only":[8],"one":[9,30],"degree":[10,31,74],"of":[11,32,48,57,75,93,112,135],"freedom.":[12,33],"Several":[13],"biomechanical":[14],"researches":[15],"have":[16],"proved":[17],"that":[18],"human":[20,39],"joint":[22,26,41,82],"is":[23,120],"a":[24,43,46,58,63],"complex":[25],"more":[28],"than":[29],"In":[34,54],"sagittal":[36,85],"plane":[37],"allows":[42],"rolling":[44],"and":[45,97],"sliding":[47],"thigh":[50],"on":[51],"shin.":[53],"case":[56],"robot":[60],"we":[61,108],"propose":[62],"closed":[64],"structure,":[65],"called":[66],"cross":[67,98],"four-bar":[68,99],"knee,":[69],"which":[70],"gives":[71],"an":[72],"additional":[73],"freedom":[76],"in":[77,83,128],"translation":[78],"for":[79],"plane.":[86],"Two":[87],"different":[88],"planar":[89],"equipped":[92],"revolute":[94],"knees":[100],"respectively":[101],"are":[102],"compared.":[103],"For":[104],"both":[105],"present":[109],"calculation":[111],"dynamic":[114],"model.":[115],"A":[116],"parametric":[117],"optimization":[118],"method":[119],"used":[121],"to":[122,130],"calculate":[123],"reference":[125],"cyclic":[126],"trajectories":[127],"order":[129],"compare":[131],"energy":[133],"consumption":[134],"two":[137],"robots.":[139]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}