{"id":"https://openalex.org/W2888548186","doi":"https://doi.org/10.1109/urai.2018.8441802","title":"Investigation of a Novel Continuously Rotating Knee Mechanism for Legged Robots","display_name":"Investigation of a Novel Continuously Rotating Knee Mechanism for Legged Robots","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888548186","doi":"https://doi.org/10.1109/urai.2018.8441802","mag":"2888548186"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/A5037938034","display_name":"Sepehr Ghassemi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sepehr Ghassemi","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5068194893","display_name":"Dennis Hong","orcid":"https://orcid.org/0000-0002-1089-4373"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dennis Hong","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, RoMeLa: Robotics and Mechanisms Laboratory, Los Angeles, CA, USA","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5037938034"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.109,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44555606,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"130","last_page":"135"},"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":0.9883999824523926,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9318000078201294,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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/robot","display_name":"Robot","score":0.6894179582595825},{"id":"https://openalex.org/keywords/stairs","display_name":"Stairs","score":0.6732621192932129},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.6459052562713623},{"id":"https://openalex.org/keywords/climb","display_name":"Climb","score":0.6397127509117126},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6012840270996094},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5891979932785034},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.5093117952346802},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.49644404649734497},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4895840585231781},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.481986939907074},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4712415337562561},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46456778049468994},{"id":"https://openalex.org/keywords/snake-arm-robot","display_name":"Snake-arm robot","score":0.4555034637451172},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4541388154029846},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.45334503054618835},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.35919421911239624},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.34145426750183105},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27144575119018555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21277818083763123},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.13728171586990356},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09558728337287903},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.09113219380378723}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6894179582595825},{"id":"https://openalex.org/C2777295749","wikidata":"https://www.wikidata.org/wiki/Q12511","display_name":"Stairs","level":2,"score":0.6732621192932129},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.6459052562713623},{"id":"https://openalex.org/C2778168010","wikidata":"https://www.wikidata.org/wiki/Q1499786","display_name":"Climb","level":2,"score":0.6397127509117126},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6012840270996094},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5891979932785034},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.5093117952346802},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.49644404649734497},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4895840585231781},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.481986939907074},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4712415337562561},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46456778049468994},{"id":"https://openalex.org/C107863493","wikidata":"https://www.wikidata.org/wiki/Q1428288","display_name":"Snake-arm robot","level":5,"score":0.4555034637451172},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4541388154029846},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.45334503054618835},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35919421911239624},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.34145426750183105},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27144575119018555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21277818083763123},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.13728171586990356},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09558728337287903},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.09113219380378723},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2018.8441802","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441802","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1754814597","https://openalex.org/W1945123189","https://openalex.org/W1989925348","https://openalex.org/W2000550377","https://openalex.org/W2036604449","https://openalex.org/W2105219792","https://openalex.org/W2142992961","https://openalex.org/W2156895423","https://openalex.org/W2157822824","https://openalex.org/W2172212138","https://openalex.org/W2550222358","https://openalex.org/W2568506796","https://openalex.org/W2765442802","https://openalex.org/W6650491776","https://openalex.org/W6745222878"],"related_works":["https://openalex.org/W2088261536","https://openalex.org/W2628003308","https://openalex.org/W2332096383","https://openalex.org/W2123208718","https://openalex.org/W3108631018","https://openalex.org/W2551741329","https://openalex.org/W2781161971","https://openalex.org/W2699743734","https://openalex.org/W2752519578","https://openalex.org/W2975358643"],"abstract_inverted_index":{"This":[0,121],"paper":[1,122],"presents":[2,123],"a":[3,50,79,95,108,130,144,193],"novel":[4,67],"continuously":[5,83],"rotating":[6,117],"knee":[7,68],"mechanism":[8,14],"for":[9,45,135],"legged":[10],"robots.":[11],"Specifically,":[12],"the":[13,73,86,105,116,124,127,162,176,189],"presented":[15],"is":[16,174,184],"used":[17],"on":[18,161,200],"NABi":[19,47],"(Non-Anthropomorphic":[20],"Biped).":[21],"Legged":[22],"robots":[23],"with":[24],"traditional":[25],"humanoid":[26],"design":[27,62,70],"often":[28],"have":[29],"human-like":[30],"leg":[31,52],"configurations":[32],"that":[33,54,71,168,196],"require":[34],"complex":[35],"motion":[36,64,156,195],"planning":[37,160,170],"and":[38,57,63,147,158,171,209],"high":[39],"number":[40],"of":[41,43,129,132],"degrees":[42,82],"freedom":[44],"locomotion.":[46],"however,":[48],"has":[49],"unique":[51],"configuration":[53],"increases":[55],"stability":[56],"balance":[58],"while":[59],"simplifying":[60],"mechanical":[61],"planning.":[65],"A":[66],"joint":[69],"allows":[72],"robot's":[74],"shin":[75],"(tibia)":[76],"to":[77,88,154,179,187],"rotate":[78],"full":[80],"360":[81],"will":[84],"allow":[85],"robot":[87,106,205],"walk":[89],"over":[90,143],"large":[91],"obstacles":[92],"such":[93,203],"as":[94,192,204],"tall":[96],"doorsill":[97],"or":[98],"climb":[99],"stairs":[100],"easily.":[101],"In":[102],"normal":[103],"conditions,":[104],"uses":[107],"bipedal":[109],"walking":[110],"gait,":[111],"however":[112],"in":[113],"certain":[114],"scenarios,":[115],"knees":[118],"become":[119],"beneficial.":[120],"findings":[125],"from":[126],"observations":[128],"series":[131],"experiments":[133],"performed":[134],"two":[136],"specific":[137],"example":[138],"scenarios.":[139],"Examples":[140],"include":[141],"going":[142],"barrier":[145],"(doorsill)":[146],"ascending":[148],"stairs.":[149],"With":[150],"an":[151],"initial":[152],"plan":[153],"perform":[155],"analysis":[157],"trajectory":[159,172],"above":[163],"locomotion":[164,190],"types,":[165],"we":[166],"observe":[167],"careful":[169],"generation":[173],"not":[175],"optimum":[177],"method":[178,191],"approach":[180],"this":[181],"problem.":[182],"It":[183],"rather":[185],"preferred":[186],"treat":[188],"continuous":[194],"passively":[197],"adjust":[198],"based":[199],"variable":[201],"factors":[202],"geometry,":[206],"torque":[207],"output,":[208],"friction":[210],"properties.":[211]},"counts_by_year":[{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
