{"id":"https://openalex.org/W2028286361","doi":"https://doi.org/10.1109/tepra.2013.6556357","title":"Development of the skewed rotation plane (SRP) waist joint for humanoid robots","display_name":"Development of the skewed rotation plane (SRP) waist joint for humanoid robots","publication_year":2013,"publication_date":"2013-04-01","ids":{"openalex":"https://openalex.org/W2028286361","doi":"https://doi.org/10.1109/tepra.2013.6556357","mag":"2028286361"},"language":"en","primary_location":{"id":"doi:10.1109/tepra.2013.6556357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2013.6556357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","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/A5049460888","display_name":"Robert Ellenberg","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Robert W. Ellenberg","raw_affiliation_strings":["Drexel University, USA","#N#        Drexel University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"#N#        Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062947525","display_name":"Richard Vallett","orcid":"https://orcid.org/0000-0002-7876-4137"},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard Vallett","raw_affiliation_strings":["Drexel University, USA","#N#        Drexel University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"#N#        Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023909504","display_name":"Roy J. Gross","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"R. J. Gross","raw_affiliation_strings":["Drexel University, USA","#N#        Drexel University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"#N#        Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062040421","display_name":"Brittany Nutt","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brittany Nutt","raw_affiliation_strings":["Drexel University, USA","#N#        Drexel University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"#N#        Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5110190609","display_name":"Paul Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I72816309","display_name":"Drexel University","ror":"https://ror.org/04bdffz58","country_code":"US","type":"education","lineage":["https://openalex.org/I72816309"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Y. Oh","raw_affiliation_strings":["Drexel University, USA","#N#        Drexel University, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]},{"raw_affiliation_string":"#N#        Drexel University, USA","institution_ids":["https://openalex.org/I72816309"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I72816309"],"apc_list":null,"apc_paid":null,"fwci":2.5146,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.88178376,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"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":0.989300012588501,"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":0.9366999864578247,"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/torso","display_name":"Torso","score":0.8189829587936401},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.794077455997467},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6349824070930481},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5614266395568848},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5223837494850159},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5096392631530762},{"id":"https://openalex.org/keywords/exoskeleton","display_name":"Exoskeleton","score":0.46521663665771484},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4593546390533447},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4582355320453644},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4353669285774231},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42900392413139343},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4163419008255005},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38648730516433716},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37214261293411255},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33411484956741333},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22676894068717957},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19531679153442383},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08380448818206787},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08207157254219055}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.8189829587936401},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.794077455997467},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6349824070930481},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5614266395568848},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5223837494850159},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5096392631530762},{"id":"https://openalex.org/C146549078","wikidata":"https://www.wikidata.org/wiki/Q191944","display_name":"Exoskeleton","level":2,"score":0.46521663665771484},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4593546390533447},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4582355320453644},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4353669285774231},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42900392413139343},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4163419008255005},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38648730516433716},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37214261293411255},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33411484956741333},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22676894068717957},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19531679153442383},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08380448818206787},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08207157254219055},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tepra.2013.6556357","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tepra.2013.6556357","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE Conference on Technologies for Practical Robot Applications (TePRA)","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":15,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W2031291740","https://openalex.org/W2126037145","https://openalex.org/W2133295794","https://openalex.org/W2138136244","https://openalex.org/W2140717964","https://openalex.org/W2151605767","https://openalex.org/W2166162370","https://openalex.org/W2166264053","https://openalex.org/W2167542173","https://openalex.org/W2167783228","https://openalex.org/W2539818546","https://openalex.org/W2542704954","https://openalex.org/W3144432534","https://openalex.org/W6678801206"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W4389401105","https://openalex.org/W4388873644","https://openalex.org/W4286728594","https://openalex.org/W2765907659","https://openalex.org/W2572731987"],"abstract_inverted_index":{"As":[0],"humanoid":[1,65],"robotics":[2],"advances":[3],"beyond":[4],"bipedal":[5],"walking,":[6,42],"complex":[7],"motions":[8],"involving":[9],"the":[10,19,24,36,50,67,118],"whole":[11],"body":[12,37],"are":[13],"necessary.":[14],"Most":[15],"recent":[16],"humanoids":[17],"represent":[18],"range":[20,69],"of":[21,23,70],"motion":[22,72],"human":[25],"spine":[26],"with":[27,49],"a":[28,55,64,74,84,103],"single":[29],"rotation":[30,57],"joint.":[31,86],"While":[32],"this":[33],"joint":[34,61],"allows":[35],"to":[38,62,83,96,109,114],"swing":[39],"during":[40],"dynamic":[41],"any":[43],"bending":[44],"must":[45],"be":[46],"performed":[47],"only":[48],"legs.":[51],"This":[52],"paper":[53],"develops":[54],"skewed":[56],"plane":[58],"(SRP)":[59],"waist":[60],"give":[63],"robot":[66],"same":[68],"torso":[71,99],"as":[73],"human.":[75],"The":[76],"SRP":[77],"design":[78],"reduces":[79],"holding":[80],"torque":[81],"compared":[82],"orthogonal-axis":[85],"An":[87],"inverse":[88],"kinematics":[89],"solver":[90],"using":[91],"Jacobian":[92],"Pseudo-inverse":[93],"was":[94],"developed":[95,106],"produce":[97],"smooth":[98],"orientation":[100],"trajectories.":[101],"Finally,":[102],"mechanical":[104],"prototype":[105],"and":[107,116],"fitted":[108],"Drexel":[110],"University's":[111],"Jaemi":[112],"Hubo":[113],"verify":[115],"validate":[117],"model.":[119]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}