{"id":"https://openalex.org/W2031306778","doi":"https://doi.org/10.1109/icmech.2013.6519110","title":"Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach","display_name":"Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach","publication_year":2013,"publication_date":"2013-02-01","ids":{"openalex":"https://openalex.org/W2031306778","doi":"https://doi.org/10.1109/icmech.2013.6519110","mag":"2031306778"},"language":"en","primary_location":{"id":"doi:10.1109/icmech.2013.6519110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","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/A5027548256","display_name":"Houman Dallali","orcid":"https://orcid.org/0000-0002-4357-4907"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Houman Dallali","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058692248","display_name":"Mohamad Mosadeghzad","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Mohamad Mosadeghzad","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074015451","display_name":"Gustavo A. Medrano\u2010Cerda","orcid":"https://orcid.org/0000-0002-6340-3443"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gustavo A. Medrano-Cerda","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072214943","display_name":"Nicolas Docquier","orcid":"https://orcid.org/0000-0001-8742-2916"},"institutions":[{"id":"https://openalex.org/I95674353","display_name":"UCLouvain","ror":"https://ror.org/02495e989","country_code":"BE","type":"education","lineage":["https://openalex.org/I95674353"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Nicolas Docquier","raw_affiliation_strings":["Centre for research in mechatronics (CEREM), universit&#x00E9; catholique de Louvain. Place du Levant 2, bte L5.04.02, B-1348 Louvain-la-Neuve, Belgium","Centre for research in mechatronics (CEREM), Universite catholique de Louvain, Louvain-la-Neuve, Belgium"],"affiliations":[{"raw_affiliation_string":"Centre for research in mechatronics (CEREM), universit&#x00E9; catholique de Louvain. Place du Levant 2, bte L5.04.02, B-1348 Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]},{"raw_affiliation_string":"Centre for research in mechatronics (CEREM), Universite catholique de Louvain, Louvain-la-Neuve, Belgium","institution_ids":["https://openalex.org/I95674353"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036281885","display_name":"Petar Kormushev","orcid":"https://orcid.org/0000-0002-6677-3044"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Petar Kormushev","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Istituto Italiano di Tecnologia, Genova, Liguria, IT"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Istituto Italiano di Tecnologia, Genova, Liguria, IT","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin Caldwell","raw_affiliation_strings":["Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Dept. of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5027548256"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":6.5582,"has_fulltext":false,"cited_by_count":43,"citation_normalized_percentile":{"value":0.97143401,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"598","last_page":"603"},"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":0.9883999824523926,"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":0.9836999773979187,"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":0.7319482564926147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6750510334968567},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.6187459826469421},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.6154659986495972},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5059699416160583},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.45674365758895874},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34325897693634033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20054945349693298},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17015892267227173}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7319482564926147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6750510334968567},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.6187459826469421},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.6154659986495972},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5059699416160583},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.45674365758895874},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34325897693634033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20054945349693298},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17015892267227173},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/icmech.2013.6519110","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icmech.2013.6519110","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","raw_type":"proceedings-article"},{"id":"pmh:oai:dial.uclouvain.be:boreal:130693","is_oa":false,"landing_page_url":"http://hdl.handle.net/2078.1/130693","pdf_url":null,"source":{"id":"https://openalex.org/S4306401974","display_name":"DIAL (Catholic University of Leuven)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I99464096","host_organization_name":"KU Leuven","host_organization_lineage":["https://openalex.org/I99464096"],"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"},{"id":"pmh:oai:iris.unige.it:11567/790821","is_oa":false,"landing_page_url":"http://hdl.handle.net/11567/790821","pdf_url":null,"source":{"id":"https://openalex.org/S4377196291","display_name":"CINECA IRIS Institutial Research Information System (University of Genoa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I83816512","host_organization_name":"University of Genoa","host_organization_lineage":["https://openalex.org/I83816512"],"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"},{"id":"pmh:oai:spiral.imperial.ac.uk:10044/1/26046","is_oa":false,"landing_page_url":"http://hdl.handle.net/10044/1/26046","pdf_url":null,"source":{"id":"https://openalex.org/S4306401396","display_name":"Spiral (Imperial College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I47508984","host_organization_name":"Imperial College London","host_organization_lineage":["https://openalex.org/I47508984"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2013 IEEE International Conference on Mechatronics (ICM)","raw_type":"Conference Paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W639693478","https://openalex.org/W1527940619","https://openalex.org/W2014824949","https://openalex.org/W2038096146","https://openalex.org/W2044459021","https://openalex.org/W2061569672","https://openalex.org/W2088677124","https://openalex.org/W2097105297","https://openalex.org/W2144643808","https://openalex.org/W2152957885","https://openalex.org/W2157822824","https://openalex.org/W2210134929","https://openalex.org/W2951788303","https://openalex.org/W2983916874","https://openalex.org/W6688208591"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W4229591372","https://openalex.org/W4234906596","https://openalex.org/W2071544734"],"abstract_inverted_index":{"This":[0,144],"paper":[1],"reports":[2],"on":[3,116],"development":[4],"of":[5,20,30,36,43,92,110,127],"an":[6,133],"open":[7],"source":[8],"dynamic":[9],"simulator":[10,22,145],"for":[11,113],"the":[12,31,44,51,64,68,86,90,108,128,138,150],"Compliant":[13],"huMANoid":[14],"robot,":[15],"COMAN.":[16],"The":[17,76,122],"key":[18],"advantages":[19],"this":[21],"are:":[23],"it":[24,38],"generates":[25],"efficient":[26],"symbolic":[27],"dynamical":[28],"equations":[29],"robot":[32,129],"with":[33],"high":[34],"degrees":[35],"freedom,":[37],"includes":[39],"a":[40,117],"user-defined":[41],"model":[42,140],"actuator":[45],"dynamics":[46],"(the":[47],"passive":[48],"elasticity":[49],"and":[50,59,82,94,105,124],"DC":[52],"motor":[53],"equations),":[54],"user":[55,87],"defined":[56],"ground":[57,139],"models":[58,77],"fall":[60],"detection.":[61],"Users":[62],"have":[63,107],"freedom":[65],"to":[66,96,100,136],"choose":[67],"proposed":[69],"features":[70],"or":[71,103,119],"include":[72],"their":[73],"own":[74],"models.":[75],"are":[78,142],"generated":[79],"in":[80],"Matlab":[81,93],"C":[83,111],"languages,":[84],"where":[85],"can":[88,146],"leverage":[89],"power":[91],"Simulink":[95],"carry":[97],"out":[98],"analysis":[99],"parameter":[101],"variations":[102],"optimization":[104,134],"also":[106],"flexibility":[109],"language":[112],"realtime":[114],"experiments":[115],"DSP":[118],"FPGA":[120],"chip.":[121],"simulation":[123],"experimental":[125],"results":[126],"as":[130,132],"well":[131],"example":[135],"tune":[137],"coefficients":[141],"presented.":[143],"be":[147],"downloaded":[148],"from":[149],"IIT":[151],"website":[152],"[1].":[153]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":8},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":12},{"year":2013,"cited_by_count":4}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}
