{"id":"https://openalex.org/W2123934803","doi":"https://doi.org/10.1109/iros.2009.5354811","title":"Three DOF hybrid mechanism for humanoid robotic application: Modeling, design and realization","display_name":"Three DOF hybrid mechanism for humanoid robotic application: Modeling, design and realization","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2123934803","doi":"https://doi.org/10.1109/iros.2009.5354811","mag":"2123934803"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5073220905","display_name":"Samer Alfayad","orcid":"https://orcid.org/0000-0001-6432-7764"},"institutions":[{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":null,"type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"S. Alfayad","raw_affiliation_strings":["Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4210114274"]},{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4390039377"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107834221","display_name":"F.B. Ouezdou","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]},{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":null,"type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"F.B. Ouezdou","raw_affiliation_strings":["Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4210114274"]},{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4390039377"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050266860","display_name":"Faycal Namoun","orcid":null},"institutions":[{"id":"https://openalex.org/I4210115399","display_name":"Institution de Lavigny","ror":"https://ror.org/02d5c3630","country_code":"CH","type":"other","lineage":["https://openalex.org/I4210115399"]},{"id":"https://openalex.org/I4210135202","display_name":"Lake Tanganyika Authority","ror":"https://ror.org/04rew5e44","country_code":"BI","type":"government","lineage":["https://openalex.org/I4210135202"]}],"countries":["BI","CH"],"is_corresponding":false,"raw_author_name":"F. Namoun","raw_affiliation_strings":["BIA Compagny, Conflans-St-Honorine, FRANCE","BIA Compagny, 8 rue de l'Hautil, 7800 Conflans-St- Honorine, FRANCE"],"affiliations":[{"raw_affiliation_string":"BIA Compagny, Conflans-St-Honorine, FRANCE","institution_ids":["https://openalex.org/I4210135202"]},{"raw_affiliation_string":"BIA Compagny, 8 rue de l'Hautil, 7800 Conflans-St- Honorine, FRANCE","institution_ids":["https://openalex.org/I4210115399"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066445593","display_name":"Olivier Bruneau","orcid":null},"institutions":[{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":null,"type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"O. Bruneau","raw_affiliation_strings":["Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4210114274"]},{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4390039377"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074677562","display_name":"Patrick H\u00e9naff","orcid":"https://orcid.org/0000-0002-5186-2466"},"institutions":[{"id":"https://openalex.org/I4390039377","display_name":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles","ror":"https://ror.org/01hcc6p91","country_code":null,"type":"facility","lineage":["https://openalex.org/I195731000","https://openalex.org/I277688954","https://openalex.org/I4390039377"]},{"id":"https://openalex.org/I4210114274","display_name":"Laboratoire d\u2019Informatique et Syst\u00e8mes","ror":"https://ror.org/0257sgk90","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I143002897","https://openalex.org/I21491767","https://openalex.org/I4210114274"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"P. Henaff","raw_affiliation_strings":["Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4210114274"]},{"raw_affiliation_string":"Laboratoire d'Ing\u00e9nierie des Syst\u00e8mes de Versailles (LISV), 10-12 Avenue de l'Europe, 78140 V\u00e9lizy, FRANCE","institution_ids":["https://openalex.org/I4390039377"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5073220905"],"corresponding_institution_ids":["https://openalex.org/I4210114274","https://openalex.org/I4390039377"],"apc_list":null,"apc_paid":null,"fwci":1.1117,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.7889941,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4955","last_page":"4961"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9797000288963318,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7993494868278503},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7663019895553589},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.7208337187767029},{"id":"https://openalex.org/keywords/merge","display_name":"Merge (version control)","score":0.7205812335014343},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6643955111503601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5526481866836548},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5450435876846313},{"id":"https://openalex.org/keywords/realization","display_name":"Realization (probability)","score":0.5275720357894897},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5176194906234741},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.446239709854126},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44254475831985474},{"id":"https://openalex.org/keywords/mechanism-design","display_name":"Mechanism design","score":0.43373480439186096},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2775034010410309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2465248703956604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2123476266860962},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0663764476776123}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7993494868278503},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7663019895553589},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.7208337187767029},{"id":"https://openalex.org/C197129107","wikidata":"https://www.wikidata.org/wiki/Q1921621","display_name":"Merge (version control)","level":2,"score":0.7205812335014343},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6643955111503601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5526481866836548},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5450435876846313},{"id":"https://openalex.org/C2781089630","wikidata":"https://www.wikidata.org/wiki/Q21856745","display_name":"Realization (probability)","level":2,"score":0.5275720357894897},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5176194906234741},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.446239709854126},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44254475831985474},{"id":"https://openalex.org/C153517567","wikidata":"https://www.wikidata.org/wiki/Q26090","display_name":"Mechanism design","level":2,"score":0.43373480439186096},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2775034010410309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2465248703956604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2123476266860962},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0663764476776123},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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/C144237770","wikidata":"https://www.wikidata.org/wiki/Q747534","display_name":"Mathematical economics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C23123220","wikidata":"https://www.wikidata.org/wiki/Q816826","display_name":"Information retrieval","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354811","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354811","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1530655709","https://openalex.org/W1551588517","https://openalex.org/W1971609423","https://openalex.org/W2022781242","https://openalex.org/W2024577163","https://openalex.org/W2039907488","https://openalex.org/W2084658368","https://openalex.org/W2102895168","https://openalex.org/W2110708196","https://openalex.org/W2145477224","https://openalex.org/W2166162370","https://openalex.org/W6631781121"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2776995446"],"abstract_inverted_index":{"This":[0,155],"paper":[1],"deals":[2],"with":[3,106],"a":[4,10,68,158],"research":[5],"work":[6],"aimed":[7],"to":[8,25,44,57,84],"develop":[9],"new":[11,41,101,128],"three":[12],"degrees":[13],"of":[14,34,48,88,95,99,126,136,160],"freedom":[15],"(DOF)":[16],"mechanism":[17,63,78,102,156],"for":[18,70,148],"humanoid":[19,74],"robots.":[20],"The":[21,40,61,76,134],"main":[22],"idea":[23],"is":[24,79,103,131,140,153,157],"build":[26],"hybrid":[27],"(3DOF)":[28],"mechanism,":[29],"which":[30],"avoids":[31],"the":[32,35,46,86,93,96,118,127,137,144,149],"drawbacks":[33],"serial":[36],"and":[37,52,110,115],"parallel":[38],"mechanisms.":[39],"solution":[42,69,139],"has":[43],"merge":[45],"advantages":[47],"both":[49],"classical":[50],"(serial":[51],"parallel)":[53],"structures":[54],"in":[55,73,117],"order":[56],"achieve":[58],"optimal":[59],"performances.":[60],"proposed":[62,138],"can":[64],"be":[65],"used":[66],"as":[67,81],"several":[71],"modules":[72],"robot.":[75],"hip":[77,152],"taken":[80],"an":[82,161],"example":[83],"illustrate":[85],"contribution":[87],"this":[89,100],"paper.":[90],"To":[91],"evaluate":[92],"performances":[94],"system,":[97],"simulation":[98,119],"carried":[104,132],"out":[105],"Adams":[107],"software.":[108],"Geometrical":[109],"Kinematic":[111],"models":[112],"are":[113],"developed":[114,147],"included":[116],"tool.":[120],"Based":[121],"on":[122],"biomechanical":[123],"data,":[124],"analysis":[125],"kinematic":[129],"structure":[130],"out.":[133],"design":[135],"then":[141],"described.":[142],"Finally":[143],"first":[145],"prototype":[146],"HYDROi\u00bfD":[150],"robot's":[151],"presented.":[154],"part":[159],"International":[162],"patent":[163],"accepted":[164],"at":[165],"INPI-":[166],"France.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
