{"id":"https://openalex.org/W4402915819","doi":"https://doi.org/10.1109/lra.2024.3469816","title":"End-Effectors Changer Design for Humanoids","display_name":"End-Effectors Changer Design for Humanoids","publication_year":2024,"publication_date":"2024-09-27","ids":{"openalex":"https://openalex.org/W4402915819","doi":"https://doi.org/10.1109/lra.2024.3469816"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3469816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3469816","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":true,"oa_status":"green","oa_url":"https://hal.science/hal-04718554/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076104556","display_name":"Julien Roux","orcid":"https://orcid.org/0000-0003-0037-2616"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Julien Roux","raw_affiliation_strings":["Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France"],"raw_orcid":"https://orcid.org/0000-0003-0037-2616","affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014953927","display_name":"Jean-Baptiste Izard","orcid":"https://orcid.org/0000-0002-9587-5920"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jean-Baptiste Izard","raw_affiliation_strings":["ALTED, Montpellier, France","Alted (2 Rue de la Source, Clapiers - France)"],"raw_orcid":"https://orcid.org/0000-0002-9587-5920","affiliations":[{"raw_affiliation_string":"ALTED, Montpellier, France","institution_ids":[]},{"raw_affiliation_string":"Alted (2 Rue de la Source, Clapiers - France)","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057412970","display_name":"Arnaud Tanguy","orcid":"https://orcid.org/0000-0002-0395-5799"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Arnaud Tanguy","raw_affiliation_strings":["Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064981052","display_name":"Hiroshi Kaminaga","orcid":"https://orcid.org/0000-0002-8288-7973"},"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":"Hiroshi Kaminaga","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, IRL3218, Tsukuba, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"raw_orcid":"https://orcid.org/0000-0002-8288-7973","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, IRL3218, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"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":"Fumio Kanehiro","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, IRL3218, Tsukuba, Japan","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"raw_orcid":"https://orcid.org/0000-0002-0277-3467","affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, IRL3218, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]},{"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":["FR","JP"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France","CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)"],"raw_orcid":"https://orcid.org/0000-0001-9033-9742","affiliations":[{"raw_affiliation_string":"Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, (LIRMM), UMR5506, CNRS-University of Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"CNRS-AIST JRL - Joint Robotics Laboratory (National Institute of Advanced Industrial Science and Technology (AIST)\r\nTsukuba Central 1, 1-1-1 Umezono, \r\nTsukuba, Ibaraki 305-8560 \r\nJapon - Japan)","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3796,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.5138115,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":97},"biblio":{"volume":"9","issue":"11","first_page":"10495","last_page":"10502"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9839000105857849,"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":0.9839000105857849,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9348999857902527,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10904","display_name":"Embedded Systems Design Techniques","score":0.913100004196167,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5474543571472168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.500399112701416},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4556078016757965},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26623618602752686},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24650394916534424}],"concepts":[{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5474543571472168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.500399112701416},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4556078016757965},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26623618602752686},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24650394916534424}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2024.3469816","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3469816","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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:HAL:hal-04718554v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04718554","pdf_url":"https://hal.science/hal-04718554/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10495-10502. ⟨10.1109/LRA.2024.3469816⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04718554v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04718554","pdf_url":"https://hal.science/hal-04718554/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2024, 9 (11), pp.10495-10502. ⟨10.1109/LRA.2024.3469816⟩","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402915819.pdf","grobid_xml":"https://content.openalex.org/works/W4402915819.grobid-xml"},"referenced_works_count":22,"referenced_works":["https://openalex.org/W2001359382","https://openalex.org/W2048298714","https://openalex.org/W2084910280","https://openalex.org/W2108284003","https://openalex.org/W2536208226","https://openalex.org/W2787360623","https://openalex.org/W2793264449","https://openalex.org/W2896004893","https://openalex.org/W2904985412","https://openalex.org/W2974526674","https://openalex.org/W2980996786","https://openalex.org/W2986578974","https://openalex.org/W3139190071","https://openalex.org/W3169802677","https://openalex.org/W3207986478","https://openalex.org/W3212410715","https://openalex.org/W4285102205","https://openalex.org/W4311373351","https://openalex.org/W4313144440","https://openalex.org/W4380606960","https://openalex.org/W4386702614","https://openalex.org/W6640799848"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052","https://openalex.org/W4402327032","https://openalex.org/W2382290278"],"abstract_inverted_index":{"Almost":[0],"all":[1],"(not":[2],"to":[3,15,41,77,119,130,132],"say":[4],"all)":[5],"existing":[6,57,92],"humanoids":[7,48,115],"have":[8],"not":[9,61,68,73],"been":[10],"designed":[11],"with":[12,49,91,96],"the":[13,26,79,97,111],"ability":[14],"change":[16,80],"their":[17],"end-effectors":[18,37],"(head,":[19],"feet":[20],"and":[21,32,55,94,116],"hands)":[22],"on-the-fly.":[23],"Inspired":[24],"by":[25],"tool-changing":[27],"mechanisms":[28,59],"in":[29,110],"robotics":[30],"automation":[31],"manufacturing,":[33],"we":[34],"propose":[35],"an":[36],"changer":[38,65],"mechanism":[39,66,86,126],"suitable":[40],"humanoids.":[42],"This":[43],"letter":[44],"explains":[45],"why":[46,56],"enabling":[47],"such":[50],"a":[51,88,107],"technology":[52],"is":[53,67],"important":[54],"tool-changer":[58],"are":[60],"adapted.":[62],"The":[63,124],"proposed":[64,125],"actuated.":[69],"Yet,":[70],"it":[71],"does":[72],"require":[74],"human":[75],"intervention":[76],"assist":[78],"of":[81,113,122],"end-effectors.":[82],"We":[83,100],"assess":[84],"our":[85,103],"through":[87],"comparative":[89],"study":[90],"tool-changers":[93],"demonstrations":[95],"HRP-4":[98],"humanoid.":[99],"claim":[101],"that":[102],"idea":[104],"could":[105],"be":[106],"new":[108],"turn":[109],"design":[112],"future":[114],"open":[117],"perspective":[118],"modular":[120],"sizing":[121],"robots.":[123],"can":[127],"possibly":[128],"apply":[129],"animaloids":[131],"some":[133],"extent.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":3}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}