{"id":"https://openalex.org/W2147138962","doi":"https://doi.org/10.1109/ramech.2008.4690883","title":"A novel design of flexible foot system for humanoid robot","display_name":"A novel design of flexible foot system for humanoid robot","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2147138962","doi":"https://doi.org/10.1109/ramech.2008.4690883","mag":"2147138962"},"language":"en","primary_location":{"id":"doi:10.1109/ramech.2008.4690883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","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/A5074747371","display_name":"Hongqiao Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongqiao Yang","raw_affiliation_strings":["Information Center Second Affiliated Hospital of PLA, General Hospital, Beijing, China","Second Affiliated Hospital of PLA General Hospital"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Information Center Second Affiliated Hospital of PLA, General Hospital, Beijing, China","institution_ids":[]},{"raw_affiliation_string":"Second Affiliated Hospital of PLA General Hospital","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058663160","display_name":"Mei Shuai","orcid":"https://orcid.org/0009-0005-4612-1646"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mei Shuai","raw_affiliation_strings":["Department of Mechatronics Engineering, Beihang University, Beijing, China","Beihang Univ.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechatronics Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang Univ.#TAB#","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101713315","display_name":"Zhen Qiu","orcid":"https://orcid.org/0000-0001-8790-8481"},"institutions":[{"id":"https://openalex.org/I84218800","display_name":"University of California, Davis","ror":"https://ror.org/05rrcem69","country_code":"US","type":"education","lineage":["https://openalex.org/I84218800"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zhen Qiu","raw_affiliation_strings":["Department of Biomedical Engineering, University of California,\uc2a0Davis, Davis, CA, USA","university of california, davis"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Biomedical Engineering, University of California,\uc2a0Davis, Davis, CA, USA","institution_ids":[]},{"raw_affiliation_string":"university of california, davis","institution_ids":["https://openalex.org/I84218800"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101619568","display_name":"Hui Wei","orcid":"https://orcid.org/0000-0002-0954-7518"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Wei","raw_affiliation_strings":["Department of Measuring and Control Technology & Instrument, Beihang University, Beijing, China","Beihang Univ.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Measuring and Control Technology & Instrument, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang Univ.#TAB#","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024261738","display_name":"Qi Zheng","orcid":"https://orcid.org/0000-0001-7875-4388"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qi Zheng","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","Beihang Univ.#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Beihang Univ.#TAB#","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7369,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.74948397,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"824","last_page":"828"},"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":0.986299991607666,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9265000224113464,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8855172395706177},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.62322998046875},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5874069929122925},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.581584632396698},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5437333583831787},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5283737182617188},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.4616284668445587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.453773558139801},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.442581444978714},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43984508514404297},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4050775170326233},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3247126340866089},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12062123417854309},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09237611293792725}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8855172395706177},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.62322998046875},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5874069929122925},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.581584632396698},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5437333583831787},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5283737182617188},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.4616284668445587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.453773558139801},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.442581444978714},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43984508514404297},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4050775170326233},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3247126340866089},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12062123417854309},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09237611293792725},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","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/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ramech.2008.4690883","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ramech.2008.4690883","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE Conference on Robotics, Automation and Mechatronics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.46000000834465027}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W1598035408","https://openalex.org/W1954633095","https://openalex.org/W2003521024","https://openalex.org/W2031251976","https://openalex.org/W2036919073","https://openalex.org/W2062827573","https://openalex.org/W2098787727"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4399671601","https://openalex.org/W2129850190","https://openalex.org/W1992962589","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W3032871857","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1844105025"],"abstract_inverted_index":{"The":[0,160],"Large-scale":[1],"uneven":[2,119,175],"ground":[3,95],"is":[4,16,46,52],"mostly":[5],"unsmooth":[6,84,94],"and":[7,36,75,79,88,92,110,116,139,146,170],"in":[8,12],"the":[9,14,29,48,56,60,63,69,72,102,114,134,144,150,153,158,165,173],"irregular":[10,93],"state":[11],"which":[13,131],"irregularity":[15],"usually":[17],"unknown":[18,57],"(such":[19],"as":[20],"footway,":[21],"carriageway,":[22],"unexplored":[23],"desert,":[24],"mountainous":[25],"area,":[26],"surface":[27],"of":[28,59,152,157],"Mars).":[30],"In":[31],"order":[32],"to":[33,44,78,108,143],"walk":[34,112],"steadily":[35,80,109],"rapidly":[37,111],"on":[38,113,172],"such":[39],"ground,":[40,120],"a":[41,124],"chief":[42],"problem":[43,104],"overcome":[45],"that":[47],"humanoid":[49,64,106,135,166],"robot's":[50,65,136,167],"foot":[51,66,129],"not":[53],"matching":[54],"with":[55,82],"model":[58],"ground.":[61,85,176],"Therefore,":[62],"should":[67,96],"have":[68],"flexibility":[70,161],"mimic":[71],"human's":[73],"foot,":[74],"can":[76,132,162],"adapt":[77,142],"interacted":[81],"any":[83],"Also":[86],"interferences":[87],"disjoints":[89],"between":[90],"soles":[91],"be":[97],"avoided.":[98],"Aiming":[99],"at":[100],"solving":[101],"key":[103],"for":[105],"robot":[107],"large-scale":[115,174],"three-":[117],"dimension":[118],"we've":[121],"set":[122],"up":[123],"new":[125],"multidegree-":[126],"of-freedom":[127],"flexible":[128],"mechanism":[130],"make":[133],"walking":[137,168],"gesture":[138],"gait":[140],"automatically":[141],"terrain,":[145],"then":[147],"carry":[148],"out":[149],"research":[151],"globally":[154],"stable":[155],"control":[156],"gait.":[159],"obviously":[163],"improve":[164],"stability":[169],"speediness":[171]},"counts_by_year":[{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}