{"id":"https://openalex.org/W2414626330","doi":"https://doi.org/10.1109/icra.2016.7487189","title":"Design of a variable compliant humanoid foot with a new toe mechanism","display_name":"Design of a variable compliant humanoid foot with a new toe mechanism","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2414626330","doi":"https://doi.org/10.1109/icra.2016.7487189","mag":"2414626330"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5032273128","display_name":"Wooseok Choi","orcid":"https://orcid.org/0000-0002-0717-1588"},"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":"Wooseok Choi","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"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":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"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/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 G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"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/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 G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5032273128"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.1709,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.5551409,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"642","last_page":"647"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9991999864578247,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9902999997138977,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6917306184768677},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6645064949989319},{"id":"https://openalex.org/keywords/variable","display_name":"Variable (mathematics)","score":0.6630901098251343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5954176783561707},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.5760345458984375},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21082362532615662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.14793536067008972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07512396574020386},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0619235634803772}],"concepts":[{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6917306184768677},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6645064949989319},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.6630901098251343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5954176783561707},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5760345458984375},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21082362532615662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.14793536067008972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07512396574020386},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0619235634803772},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487189","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487189","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6100000143051147,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1527940619","https://openalex.org/W1586278096","https://openalex.org/W1988089745","https://openalex.org/W1996869048","https://openalex.org/W2002803749","https://openalex.org/W2014578672","https://openalex.org/W2018636891","https://openalex.org/W2028555597","https://openalex.org/W2037729465","https://openalex.org/W2051681843","https://openalex.org/W2061578829","https://openalex.org/W2089183718","https://openalex.org/W2107794792","https://openalex.org/W2113899190","https://openalex.org/W2122827816","https://openalex.org/W2128137193","https://openalex.org/W2135359004","https://openalex.org/W2169706473","https://openalex.org/W2170519810","https://openalex.org/W2171867548","https://openalex.org/W2218748295","https://openalex.org/W2543567854","https://openalex.org/W6631679515","https://openalex.org/W6688786411"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039"],"abstract_inverted_index":{"The":[0,76],"general":[1],"approach":[2],"to":[3,36,70,137],"humanoid":[4,62],"feet":[5,35,53,63,78,86,129,140],"design":[6,79,104],"considers":[7],"the":[8,30,85,102,106,109,113,128,139],"use":[9],"of":[10,32,51,58,108,115,121,127],"rectangular":[11],"plate":[12],"sole":[13],"structures":[14],"that":[15],"are":[16,135],"relatively":[17],"stiff":[18,34],"and":[19,68,95,105,111,119,132],"compatible":[20],"for":[21,46],"flat":[22],"terrain":[23,40],"locomotion.":[24],"Although":[25],"this":[26,54],"can":[27,65],"be":[28],"adequate":[29],"inability":[31],"these":[33],"cope":[37],"with":[38,87],"small":[39],"irregularities,":[41],"it":[42],"makes":[43],"them":[44],"inappropriate":[45],"rough":[47],"terrains.":[48,75],"Toward":[49],"improvement":[50],"humanoids":[52,71],"paper":[55],"presents":[56],"mechanism":[57,83,103],"new":[59,81],"variable":[60,88,116],"compliant":[61],"which":[64],"provide":[66],"functionality":[67],"adaptability":[69],"locomotion":[72],"on":[73],"uneven":[74],"proposed":[77],"introduces":[80],"toe":[82],"in":[84,98],"stiffness":[89,117],"implemented":[90],"using":[91],"a":[92],"leaf":[93],"spring":[94],"rubber":[96],"balls":[97],"series.":[99],"We":[100],"present":[101],"implementation":[107],"sensor,":[110],"discuss":[112],"estimation":[114],"range":[118],"coefficient":[120],"damping":[122],"at":[123],"sole.":[124],"A":[125],"prototype":[126],"was":[130],"built":[131],"experimental":[133],"results":[134],"included":[136],"validate":[138],"design.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
