{"id":"https://openalex.org/W2289605692","doi":"https://doi.org/10.1109/robio.2015.7419707","title":"A torque limiter for safe joint applied to humanoid robots against falling damage","display_name":"A torque limiter for safe joint applied to humanoid robots against falling damage","publication_year":2015,"publication_date":"2015-12-01","ids":{"openalex":"https://openalex.org/W2289605692","doi":"https://doi.org/10.1109/robio.2015.7419707","mag":"2289605692"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2015.7419707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 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/A5044592656","display_name":"Xinran Guo","orcid":"https://orcid.org/0000-0001-8982-2788"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinran Guo","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100340717","display_name":"Weimin Zhang","orcid":"https://orcid.org/0000-0001-6632-0144"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weimin Zhang","raw_affiliation_strings":["Key Laboratory of Intelligent Robots, China Electronics Technology Group Corporation (CETC), Shanghai, China","Ministry of Education, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Robots, China Electronics Technology Group Corporation (CETC), Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]},{"raw_affiliation_string":"Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022860564","display_name":"Huaxin Liu","orcid":"https://orcid.org/0000-0002-3382-8627"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huaxin Liu","raw_affiliation_strings":["Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Intelligent Robotics Institute, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["Ministry of Education, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018499540","display_name":"Wen Zhang","orcid":"https://orcid.org/0000-0002-7678-015X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]},{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wen Zhang","raw_affiliation_strings":["Key Laboratory of Intelligent Robots, China Electronics Technology Group Corporation (CETC), Shanghai, China","Ministry of Education, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Robots, China Electronics Technology Group Corporation (CETC), Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]},{"raw_affiliation_string":"Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069116447","display_name":"William Conus","orcid":null},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"William Conus","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007690546","display_name":"Kenji Hashimoto","orcid":"https://orcid.org/0000-0003-2300-6766"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenji Hashimoto","raw_affiliation_strings":["Department of Mechanical Engineering, Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100617912","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0001-5269-4161"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["Ministry of Education, Beijing Institute of Technology, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ministry of Education, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2454","last_page":"2459"},"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":0.9952999949455261,"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/T10441","display_name":"Muscle Physiology and Disorders","score":0.9563000202178955,"subfield":{"id":"https://openalex.org/subfields/1312","display_name":"Molecular Biology"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.7680025100708008},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7590827941894531},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7044477462768555},{"id":"https://openalex.org/keywords/torque-limiter","display_name":"Torque limiter","score":0.701548159122467},{"id":"https://openalex.org/keywords/limiter","display_name":"Limiter","score":0.67418372631073},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6555647253990173},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5946652889251709},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5283725261688232},{"id":"https://openalex.org/keywords/automotive-engineering","display_name":"Automotive engineering","score":0.36701568961143494},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.340332955121994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.29482847452163696},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17617899179458618},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1259816288948059},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.08903643488883972},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.056750327348709106}],"concepts":[{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.7680025100708008},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7590827941894531},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7044477462768555},{"id":"https://openalex.org/C167649995","wikidata":"https://www.wikidata.org/wiki/Q384099","display_name":"Torque limiter","level":3,"score":0.701548159122467},{"id":"https://openalex.org/C45011657","wikidata":"https://www.wikidata.org/wiki/Q1613840","display_name":"Limiter","level":2,"score":0.67418372631073},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6555647253990173},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5946652889251709},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5283725261688232},{"id":"https://openalex.org/C171146098","wikidata":"https://www.wikidata.org/wiki/Q124192","display_name":"Automotive engineering","level":1,"score":0.36701568961143494},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.340332955121994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.29482847452163696},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17617899179458618},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1259816288948059},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.08903643488883972},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.056750327348709106},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2015.7419707","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2015.7419707","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W200367536","https://openalex.org/W1979777243","https://openalex.org/W1994079251","https://openalex.org/W2036188855","https://openalex.org/W2049619022","https://openalex.org/W2089258758","https://openalex.org/W2096461010","https://openalex.org/W2107063340","https://openalex.org/W2108411677","https://openalex.org/W2120553010","https://openalex.org/W2124132276","https://openalex.org/W2163762739","https://openalex.org/W2168132715","https://openalex.org/W2265973544","https://openalex.org/W2436002435","https://openalex.org/W2540665398","https://openalex.org/W2545906379","https://openalex.org/W2560776847","https://openalex.org/W4285719527","https://openalex.org/W6608055045","https://openalex.org/W6648515476","https://openalex.org/W6673249998","https://openalex.org/W6693679070","https://openalex.org/W6728995022","https://openalex.org/W6730723819"],"related_works":["https://openalex.org/W2373111495","https://openalex.org/W2371548282","https://openalex.org/W2003066475","https://openalex.org/W2312819145","https://openalex.org/W2348548486","https://openalex.org/W2064352509","https://openalex.org/W2913969015","https://openalex.org/W2889634228","https://openalex.org/W2534211572","https://openalex.org/W2289605692"],"abstract_inverted_index":{"Humanoid":[0],"robot":[1,51],"is":[2,28,42,76,87],"anticipated":[3],"to":[4,23,44,48],"serve":[5],"people":[6],"in":[7,11,78],"our":[8],"daily":[9],"life":[10],"the":[12,16,46,55,63,69,73,81,84],"near":[13],"future.":[14],"However,":[15],"great":[17],"cost":[18],"of":[19,62,72,83],"falling":[20],"damage":[21,47],"needs":[22],"be":[24],"addressed":[25],"before":[26],"it":[27],"widely":[29],"used.":[30],"In":[31],"this":[32],"paper,":[33],"a":[34,49],"safe":[35,64,74,85],"and":[36,59],"compact":[37],"joint":[38,65,75,86],"with":[39],"torque":[40],"limiter":[41],"developed":[43],"reduce":[45],"humanoid":[50],"during":[52],"falling.":[53],"First,":[54],"overall":[56],"scheme":[57],"design":[58,71],"working":[60],"principles":[61],"are":[66],"investigated.":[67],"Then,":[68],"mechanical":[70],"presented":[77],"details.":[79],"Finally,":[80],"effectiveness":[82],"verified":[88],"by":[89],"several":[90],"simulations.":[91]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}