{"id":"https://openalex.org/W3010682736","doi":"https://doi.org/10.1109/lra.2020.2979630","title":"HRP-4 Walks on Soft Feet","display_name":"HRP-4 Walks on Soft Feet","publication_year":2020,"publication_date":"2020-03-09","ids":{"openalex":"https://openalex.org/W3010682736","doi":"https://doi.org/10.1109/lra.2020.2979630","mag":"3010682736"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2979630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2979630","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5056194661","display_name":"Manuel G. Catalano","orcid":"https://orcid.org/0000-0003-1950-6186"},"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":"Manuel G. Catalano","raw_affiliation_strings":["Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025394317","display_name":"Irene Frizza","orcid":"https://orcid.org/0000-0001-5272-1051"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT","JP"],"is_corresponding":false,"raw_author_name":"Irene Frizza","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","Dipartimento di Ingegneria dell\u2019Informazione, Centro di Ricerca \u201cE. Piaggio,\u201d Universit\u00e1 di Pisa, Pisa, Italy","Dipartimento di Ingegneria dell'Informazione, Centro di Ricerca \"E. Piaggio,\" Universit\u00e1 di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Centro di Ricerca \u201cE. Piaggio,\u201d Universit\u00e1 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Centro di Ricerca \"E. Piaggio,\" Universit\u00e1 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086420591","display_name":"Cecilia Morandi","orcid":"https://orcid.org/0000-0002-2890-4146"},"institutions":[{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"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"]},{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]}],"countries":["IT","JP"],"is_corresponding":false,"raw_author_name":"Cecilia Morandi","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","Dipartimento di Ingegneria dell\u2019Informazione, Centro di Ricerca \u201cE. Piaggio,\u201d Universit\u00e1 di Pisa, Pisa, Italy","Dipartimento di Ingegneria dell'Informazione, Centro di Ricerca \"E. Piaggio,\" Universit\u00e1 di Pisa, Pisa, Italy"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell\u2019Informazione, Centro di Ricerca \u201cE. Piaggio,\u201d Universit\u00e1 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]},{"raw_affiliation_string":"Dipartimento di Ingegneria dell'Informazione, Centro di Ricerca \"E. Piaggio,\" Universit\u00e1 di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I1300504238","https://openalex.org/I108290504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079017232","display_name":"Giorgio Grioli","orcid":"https://orcid.org/0000-0002-5310-2997"},"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":"Giorgio Grioli","raw_affiliation_strings":["Fondazione Istituto Italiano di Tecnologia, Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Fondazione Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"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":"Ko Ayusawa","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101465475","display_name":"Takahiro Ito","orcid":"https://orcid.org/0000-0003-2886-1067"},"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":"Takahiro Ito","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"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":"Gentiane Venture","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5056194661"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.7725,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.67361231,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":93,"max":100},"biblio":{"volume":"6","issue":"2","first_page":"470","last_page":"477"},"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":0.9994000196456909,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9890000224113464,"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/torque","display_name":"Torque","score":0.6424201726913452},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6076408624649048},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5705178380012512},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5309613943099976},{"id":"https://openalex.org/keywords/pitch-angle","display_name":"Pitch angle","score":0.5113741755485535},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5002202987670898},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.46627262234687805},{"id":"https://openalex.org/keywords/ankle","display_name":"Ankle","score":0.4580068290233612},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4545922875404358},{"id":"https://openalex.org/keywords/tilt","display_name":"Tilt (camera)","score":0.43623337149620056},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2920435070991516},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22804921865463257},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.1861688792705536},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1403578519821167}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6424201726913452},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6076408624649048},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5705178380012512},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5309613943099976},{"id":"https://openalex.org/C2777581452","wikidata":"https://www.wikidata.org/wiki/Q4363928","display_name":"Pitch angle","level":2,"score":0.5113741755485535},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5002202987670898},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.46627262234687805},{"id":"https://openalex.org/C2778640784","wikidata":"https://www.wikidata.org/wiki/Q168002","display_name":"Ankle","level":2,"score":0.4580068290233612},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4545922875404358},{"id":"https://openalex.org/C2779844322","wikidata":"https://www.wikidata.org/wiki/Q2919140","display_name":"Tilt (camera)","level":2,"score":0.43623337149620056},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2920435070991516},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22804921865463257},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.1861688792705536},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1403578519821167},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C8058405","wikidata":"https://www.wikidata.org/wiki/Q46255","display_name":"Geophysics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2020.2979630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2979630","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arpi.unipi.it:11568/1213938","is_oa":false,"landing_page_url":"https://hdl.handle.net/11568/1213938","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"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/article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1963536894","https://openalex.org/W1987580649","https://openalex.org/W2018636891","https://openalex.org/W2020935982","https://openalex.org/W2079591266","https://openalex.org/W2120693140","https://openalex.org/W2133859362","https://openalex.org/W2200594734","https://openalex.org/W2320053039","https://openalex.org/W2565386209","https://openalex.org/W2568550321","https://openalex.org/W2588211988","https://openalex.org/W2611330011","https://openalex.org/W2621070834","https://openalex.org/W2799958407","https://openalex.org/W2904570303","https://openalex.org/W2914140423","https://openalex.org/W2914981446","https://openalex.org/W2924430754","https://openalex.org/W3002979680","https://openalex.org/W3147253688","https://openalex.org/W6758762188"],"related_works":["https://openalex.org/W2794103424","https://openalex.org/W4245435724","https://openalex.org/W1996530509","https://openalex.org/W3028317537","https://openalex.org/W2389515972","https://openalex.org/W2745063183","https://openalex.org/W2055301889","https://openalex.org/W1505959757","https://openalex.org/W2376554934","https://openalex.org/W2057866644"],"abstract_inverted_index":{"The":[0],"majority":[1],"of":[2,36,44,65,100,116,124,129,158],"humanoid":[3,51],"robots":[4],"adopt":[5],"flat":[6,63,95],"feet,":[7],"a":[8,21,151],"choice":[9],"that":[10],"can":[11],"limit":[12],"their":[13],"performance":[14,157],"when":[15,160],"maneuvering":[16],"over":[17],"uneven":[18],"terrains.":[19],"Recently,":[20],"soft":[22],"robotic":[23],"foot":[24],"designed":[25],"to":[26,28,33,57,78,169],"adapt":[27],"the":[29,42,50,61,66,70,79,81,106,125,130,162,167,171],"ground":[30,96],"was":[31],"proposed":[32],"overcome":[34],"part":[35],"these":[37],"limitations.":[38],"This":[39],"paper":[40],"presents":[41],"results":[43],"testing":[45],"two":[46],"such":[47],"feet":[48,64,117],"on":[49,94,98],"robot":[52],"HRP-4,":[53,159],"and":[54,72,88,97,146],"compares":[55],"them":[56],"what":[58],"obtained":[59],"with":[60,118],"original":[62,107],"robot.":[67],"After":[68],"describing":[69],"SoftFoot":[71,172],"how":[73],"it":[74],"has":[75,110],"been":[76,111],"adapted":[77],"robot,":[80],"biped":[82],"is":[83],"tested":[84],"while":[85],"balancing,":[86],"stepping":[87],"walking.":[89],"Tests":[90],"are":[91],"carried":[92],"out":[93],"obstacles":[99],"different":[101],"heights.":[102],"For":[103],"comparison":[104],"purposes,":[105],"HRP-4":[108],"controller":[109,168],"used":[112],"for":[113,122],"both":[114],"types":[115],"no":[119],"changes":[120],"(except":[121],"re-evaluation":[123],"CoM":[126],"position).":[127],"Analysis":[128],"ankle":[131,134],"pitch":[132,135,138,141,148],"angle,":[133,139,149],"torque,":[136,142],"knee":[137,140],"waist":[143,147],"roll":[144],"angle":[145],"show":[150],"substantial":[152],"improvement":[153],"in":[154],"obstacle":[155],"negotiation":[156],"using":[161],"SoftFoot,":[163],"even":[164],"without":[165],"optimizing":[166],"exploit":[170],"features.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2020-03-23T00:00:00"}
