{"id":"https://openalex.org/W2132892272","doi":"https://doi.org/10.1109/iros.2004.1389404","title":"Simple And Low-cost Compliant Leg-foot System","display_name":"Simple And Low-cost Compliant Leg-foot System","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2132892272","doi":"https://doi.org/10.1109/iros.2004.1389404","mag":"2132892272"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://figshare.com/articles/conference_contribution/Simple_and_low-cost_compliant_leg-foot_system/23352032","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090123603","display_name":"Friedrich Meyer","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"F. Meyer","raw_affiliation_strings":["Department of Mechatronics, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","Dept. of Mechatronics, Technische Univ. Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Dept. of Mechatronics, Technische Univ. Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":null,"display_name":"A. Sprowitz","orcid":null},"institutions":[{"id":"https://openalex.org/I119449181","display_name":"Technische Universit\u00e4t Ilmenau","ror":"https://ror.org/01weqhp73","country_code":"DE","type":"education","lineage":["https://openalex.org/I119449181"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"A. Sprowitz","raw_affiliation_strings":["Department of Mechatronics, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","Dept. of Mechatronics, Technische Univ. Ilmenau, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics, Technische Universit\u00e4t Illmenau, Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]},{"raw_affiliation_string":"Dept. of Mechatronics, Technische Univ. Ilmenau, Germany","institution_ids":["https://openalex.org/I119449181"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110857287","display_name":"Max Lungarella","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Lungarella","raw_affiliation_strings":["Neuroscience Research Institute, Tsukuba AIST Central, Tsukuba, Japan","Neuroscience Research Institute Tsukuba AIST Central"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroscience Research Institute, Tsukuba AIST Central, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Neuroscience Research Institute Tsukuba AIST Central","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070655016","display_name":"Luc Berthouze","orcid":"https://orcid.org/0000-0003-3774-2369"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"L. Berthouze","raw_affiliation_strings":["Neuroscience Research Institute, Tsukuba AIST Central, Tsukuba, Japan","Neuroscience Research Institute Tsukuba AIST Central"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Neuroscience Research Institute, Tsukuba AIST Central, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Neuroscience Research Institute Tsukuba AIST Central","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"1","issue":null,"first_page":"515","last_page":"520"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9995999932289124,"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/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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9896000027656555,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/silicone-rubber","display_name":"Silicone rubber","score":0.6765139102935791},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6338687539100647},{"id":"https://openalex.org/keywords/brass","display_name":"Brass","score":0.6275783777236938},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.4904424846172333},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4302777945995331},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41455256938934326},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.3775530159473419},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26275500655174255},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1934659481048584}],"concepts":[{"id":"https://openalex.org/C2776290925","wikidata":"https://www.wikidata.org/wiki/Q4115245","display_name":"Silicone rubber","level":2,"score":0.6765139102935791},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6338687539100647},{"id":"https://openalex.org/C2780033417","wikidata":"https://www.wikidata.org/wiki/Q39782","display_name":"Brass","level":3,"score":0.6275783777236938},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.4904424846172333},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4302777945995331},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41455256938934326},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.3775530159473419},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26275500655174255},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1934659481048584},{"id":"https://openalex.org/C544778455","wikidata":"https://www.wikidata.org/wiki/Q753","display_name":"Copper","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"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/C191897082","wikidata":"https://www.wikidata.org/wiki/Q11467","display_name":"Metallurgy","level":1,"score":0.0}],"mesh":[],"locations_count":7,"locations":[{"id":"doi:10.1109/iros.2004.1389404","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389404","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.173.3597","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.173.3597","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.71.7768","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.71.7768","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.ifi.unizh.ch/ailab/people/lunga/Papers/iros04.pdf","raw_type":"text"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10035609","is_oa":false,"landing_page_url":"http://discovery.ucl.ac.uk/10035609/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In: (pp. pp. 515-520). (2004)","raw_type":"Proceedings paper"},{"id":"pmh:oai:escidoc.org:escidoc:2316401","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002B-0968-B","pdf_url":null,"source":{"id":"https://openalex.org/S7407052962","display_name":"Max Planck Digital Library","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"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:figshare.com:article/23352032","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Simple_and_low-cost_compliant_leg-foot_system/23352032","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference contribution"},{"id":"pmh:oai:infoscience.epfl.ch:144143","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/144143","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"}],"best_oa_location":{"id":"pmh:oai:figshare.com:article/23352032","is_oa":true,"landing_page_url":"https://figshare.com/articles/conference_contribution/Simple_and_low-cost_compliant_leg-foot_system/23352032","pdf_url":null,"source":{"id":"https://openalex.org/S4377196282","display_name":"Figshare","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210132348","host_organization_name":"Figshare (United Kingdom)","host_organization_lineage":["https://openalex.org/I4210132348"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Conference contribution"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1501891458","https://openalex.org/W1600914722","https://openalex.org/W1829015105","https://openalex.org/W1934642486","https://openalex.org/W1995090200","https://openalex.org/W2019671454","https://openalex.org/W2026036461","https://openalex.org/W2027380543","https://openalex.org/W2111253117","https://openalex.org/W2142992961","https://openalex.org/W2160279521","https://openalex.org/W2316140374","https://openalex.org/W2320992347","https://openalex.org/W4249094877","https://openalex.org/W6635940577","https://openalex.org/W6700310989"],"related_works":["https://openalex.org/W4250111590","https://openalex.org/W2049376157","https://openalex.org/W2184197376","https://openalex.org/W4252135359","https://openalex.org/W4247323958","https://openalex.org/W2054806274","https://openalex.org/W2389958343","https://openalex.org/W4245106673","https://openalex.org/W2904662751","https://openalex.org/W2375164528"],"abstract_inverted_index":{"We":[0,65],"describe":[1],"a":[2,37,59],"simple":[3],"and":[4,12,26,46,48,53],"low-cost":[5],"humanoid":[6],"leg":[7],"design":[8],"with":[9,23,58],"compliant":[10],"joints":[11],"springy":[13],"feet.":[14],"Mechanical":[15],"compliance":[16,50,68],"is":[17],"achieved":[18],"by":[19,31],"combining":[20],"visco-elastic":[21],"material":[22],"metal.":[24],"Joints":[25],"feet":[27],"characteristics":[28],"are":[29,51,56],"evaluated":[30],"repeatedly":[32],"dropping":[33],"the":[34,63],"system":[35],"from":[36],"fixed":[38],"height.":[39],"Different":[40],"joint":[41,78],"configurations":[42],"(silicone":[43],"rubber,":[44],"latex":[45],"brass)":[47],"foot":[49],"examined,":[52],"additional":[54],"data":[55],"obtained":[57],"Lagrangian":[60],"analysis":[61],"of":[62],"system.":[64],"show":[66],"that":[67],"not":[69],"only":[70],"reduces":[71],"impact":[72],"forces,":[73],"but":[74],"also":[75],"induces":[76],"smoother":[77],"trajectories.":[79]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-07-19T07:52:34.831488","created_date":"2025-10-10T00:00:00"}