{"id":"https://openalex.org/W2107632757","doi":"https://doi.org/10.1109/iros.2011.6094924","title":"A bio-inspired condylar hinge joint for mobile robots","display_name":"A bio-inspired condylar hinge joint for mobile robots","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2107632757","doi":"https://doi.org/10.1109/iros.2011.6094924","mag":"2107632757"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6094924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094924","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 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/A5112385137","display_name":"Appolinaire Etoundi","orcid":null},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]},{"id":"https://openalex.org/I4210161128","display_name":"Bristol Robotics Laboratory","ror":"https://ror.org/056sbyc67","country_code":"GB","type":"facility","lineage":["https://openalex.org/I4210161128"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Appolinaire C. Etoundi","raw_affiliation_strings":["Bristol Robotics Laboratory (BRL), University of West of England, Bristol, UK","Department of Mechanical Engineering, University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Bristol Robotics Laboratory (BRL), University of West of England, Bristol, UK","institution_ids":["https://openalex.org/I4210161128"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043916064","display_name":"Ravi Vaidyanathan","orcid":"https://orcid.org/0000-0002-9625-4544"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ravi Vaidyanathan","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022199343","display_name":"Stuart C Burgess","orcid":"https://orcid.org/0000-0002-2689-508X"},"institutions":[{"id":"https://openalex.org/I36234482","display_name":"University of Bristol","ror":"https://ror.org/0524sp257","country_code":"GB","type":"education","lineage":["https://openalex.org/I36234482"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Stuart C. Burgess","raw_affiliation_strings":["Department of Mechanical Engineering, University of Bristol, Bristol, UK"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Bristol, Bristol, UK","institution_ids":["https://openalex.org/I36234482"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112385137"],"corresponding_institution_ids":["https://openalex.org/I36234482","https://openalex.org/I4210161128"],"apc_list":null,"apc_paid":null,"fwci":6.234,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.96214511,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"61","issue":null,"first_page":"4042","last_page":"4047"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9890999794006348,"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":0.9890999794006348,"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/T13280","display_name":"Biomedical and Engineering Education","score":0.9871000051498413,"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":0.9628999829292297,"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/hinge","display_name":"Hinge","score":0.9231246709823608},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6255500316619873},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.569904088973999},{"id":"https://openalex.org/keywords/knee-joint","display_name":"Knee Joint","score":0.5651347041130066},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.525691032409668},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.5183007121086121},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5146209001541138},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.5136234164237976},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.47541338205337524},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46456706523895264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3373819589614868},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22262698411941528}],"concepts":[{"id":"https://openalex.org/C44000306","wikidata":"https://www.wikidata.org/wiki/Q244330","display_name":"Hinge","level":2,"score":0.9231246709823608},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6255500316619873},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.569904088973999},{"id":"https://openalex.org/C2908736133","wikidata":"https://www.wikidata.org/wiki/Q37425","display_name":"Knee Joint","level":2,"score":0.5651347041130066},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.525691032409668},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.5183007121086121},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5146209001541138},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.5136234164237976},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.47541338205337524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46456706523895264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3373819589614868},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22262698411941528},{"id":"https://openalex.org/C141071460","wikidata":"https://www.wikidata.org/wiki/Q40821","display_name":"Surgery","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2011.6094924","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6094924","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:research-information.bris.ac.uk:openaire_cris_publications/6e3c0485-1451-4e6c-bda1-76af381da3ea","is_oa":false,"landing_page_url":"https://research-information.bris.ac.uk/en/publications/6e3c0485-1451-4e6c-bda1-76af381da3ea","pdf_url":null,"source":{"id":"https://openalex.org/S4306400895","display_name":"Bristol Research (University of Bristol)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I36234482","host_organization_name":"University of Bristol","host_organization_lineage":["https://openalex.org/I36234482"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Etoundi, AC, Vaidyanathan, R & Burgess, SC 2011, 'A bio-inspired condylar hinge for mobile robots', Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, United States, 25/09/11 - 30/09/11 pp. 4042 - 4047. https://doi.org/10.1109/IROS.2011.6094924","raw_type":"info:eu-repo/semantics/publishedVersion"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W601494358","https://openalex.org/W1508198040","https://openalex.org/W1792413699","https://openalex.org/W1979475359","https://openalex.org/W1980065440","https://openalex.org/W2006054090","https://openalex.org/W2014785749","https://openalex.org/W2109784313","https://openalex.org/W2116463484","https://openalex.org/W2152159234","https://openalex.org/W2413368052","https://openalex.org/W3207843357","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2373084372","https://openalex.org/W2764185008","https://openalex.org/W2002367660","https://openalex.org/W2161630834","https://openalex.org/W1989123995","https://openalex.org/W2372731056","https://openalex.org/W1873835628","https://openalex.org/W2149094049","https://openalex.org/W2370767810","https://openalex.org/W2384444062"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,49,55,102],"bio-inspired":[4,41],"design":[5,42],"of":[6,24,36,48,58,108],"hinge":[7,96,105],"joint":[8,19,52,97],"for":[9,74],"mobile":[10,75],"robots":[11,76],"based":[12],"on":[13],"the":[14,21,25,33,37,44,67,94],"human":[15],"knee":[16,51],"joint.":[17],"The":[18,40],"mimics":[20,32],"curved":[22],"profiles":[23],"femur":[26],"and":[27,30,64,83,88,110],"tibia":[28],"bones":[29],"also":[31],"four-bar":[34],"motion":[35],"cruciate":[38],"ligaments.":[39],"has":[43,98],"same":[45],"desirable":[46],"features":[47],"natural":[50],"including":[53],"compactness,":[54],"moving":[56],"centre":[57],"rotation,":[59],"high":[60,62],"strength,":[61],"stiffness":[63,109],"locking":[65],"in":[66,106],"upright":[68],"position.":[69],"These":[70],"characteristics":[71],"are":[72,79],"important":[73],"where":[77],"there":[78],"often":[80],"tight":[81],"space":[82],"mass":[84],"limitations.":[85],"Numerical":[86],"analysis":[87],"experimental":[89],"tests":[90],"have":[91],"shown":[92],"that":[93],"new":[95],"superior":[99],"performance":[100],"to":[101],"pin":[103],"jointed":[104],"terms":[107],"mechanical":[111],"advantage.":[112]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":3}],"updated_date":"2026-03-16T09:10:04.655348","created_date":"2025-10-10T00:00:00"}