{"id":"https://openalex.org/W2127548864","doi":"https://doi.org/10.1109/robio.2007.4522259","title":"The design and control of a low cost humanoid robot","display_name":"The design and control of a low cost humanoid robot","publication_year":2007,"publication_date":"2007-12-01","ids":{"openalex":"https://openalex.org/W2127548864","doi":"https://doi.org/10.1109/robio.2007.4522259","mag":"2127548864"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2007.4522259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5045530536","display_name":"Xusheng Lei","orcid":"https://orcid.org/0000-0001-8186-0245"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"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":"Xusheng Lei","raw_affiliation_strings":["Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023107201","display_name":"T. M. Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"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":"Tianmaio Wang","raw_affiliation_strings":["Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082034499","display_name":"Dianshen Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]},{"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":"Dianshen Chen","raw_affiliation_strings":["Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Centre of Robot, Beijing Aeronautics and Astronautics University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"Dept of Centre of Robot, Beijing Univ. of Aeronaut. & Astronaut., Beijing","institution_ids":["https://openalex.org/I20231570"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084573070","display_name":"Jianbo Su","orcid":"https://orcid.org/0000-0001-6931-5842"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianbo Su","raw_affiliation_strings":["Department of Automation& Research Centre of Intelligent Robot, Shanghai Jiaotong University, Shanghai, China","Dept of Automation& Research Centre of Intelligent Robot, Shanghai Jiaotong University, 800 Dongchuan Road, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automation& Research Centre of Intelligent Robot, Shanghai Jiaotong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]},{"raw_affiliation_string":"Dept of Automation& Research Centre of Intelligent Robot, Shanghai Jiaotong University, 800 Dongchuan Road, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7477,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.70251142,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"763","last_page":"768"},"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":0.9783999919891357,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9761999845504761,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/humanoid-robot","display_name":"Humanoid robot","score":0.8777300119400024},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5844932794570923},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.48328521847724915},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48317471146583557},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4662201702594757},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3529408574104309},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3137151598930359},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2695050537586212}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8777300119400024},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5844932794570923},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.48328521847724915},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48317471146583557},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4662201702594757},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3529408574104309},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3137151598930359},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2695050537586212}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2007.4522259","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2007.4522259","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1516004744","https://openalex.org/W1958483735","https://openalex.org/W1975152903","https://openalex.org/W1988107827","https://openalex.org/W2033689783","https://openalex.org/W2043727402","https://openalex.org/W2057892472","https://openalex.org/W2107063340","https://openalex.org/W2115699238","https://openalex.org/W2120553010","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2148338288","https://openalex.org/W2155399784","https://openalex.org/W2161439626","https://openalex.org/W2171913320","https://openalex.org/W3125997034","https://openalex.org/W6684164338","https://openalex.org/W6685339884"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3114279067","https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"the":[3,6,62,79,85,88],"hardware":[4],"of":[5,14,78,87],"IHR-1":[7],"humanoid":[8,90],"robot.":[9,91],"It":[10],"has":[11,54],"25":[12],"degrees":[13],"freedom":[15],"with":[16,59],"low":[17,72],"cost":[18],"direct":[19],"brushless":[20],"actuators":[21],"and":[22,29],"sensors.":[23],"Moreover,":[24],"to":[25,39,44,46],"improve":[26],"system":[27,63],"stability":[28],"adaptability,":[30],"an":[31],"adaptive":[32],"fuzzy":[33,51,60],"logic":[34,52],"control":[35,53],"method":[36,81],"is":[37,82],"proposed":[38,80],"adjust":[40],"joint":[41,67],"trajectories":[42],"online":[43],"adapt":[45],"real":[47],"working":[48],"conditions.":[49],"As":[50],"high":[55],"potential":[56],"in":[57],"dealing":[58],"information,":[61],"can":[64],"compensate":[65],"for":[66],"angle":[68],"errors":[69],"based":[70],"on":[71,84],"precision":[73],"sensor":[74],"information.":[75],"The":[76],"effectiveness":[77],"tested":[83],"module":[86],"\u201cIHR-1\u201d":[89]},"counts_by_year":[{"year":2013,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
