{"id":"https://openalex.org/W2540393540","doi":"https://doi.org/10.1109/ichr.2005.1573587","title":"Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO)","display_name":"Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO)","publication_year":2006,"publication_date":"2006-01-25","ids":{"openalex":"https://openalex.org/W2540393540","doi":"https://doi.org/10.1109/ichr.2005.1573587","mag":"2540393540"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2005.1573587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","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/A5090005815","display_name":"Ill-Woo Park","orcid":"https://orcid.org/0000-0002-0029-9562"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ill-Woo Park","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016255256","display_name":"Jung-Yup Kim","orcid":"https://orcid.org/0000-0002-0833-1547"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jung-Yup Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100745071","display_name":"Jungho Lee","orcid":"https://orcid.org/0000-0003-4162-3389"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jungho Lee","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055502318","display_name":"Jun-Ho Oh","orcid":"https://orcid.org/0000-0002-2609-6712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Jun-Ho Oh","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":13.8488,"has_fulltext":false,"cited_by_count":257,"citation_normalized_percentile":{"value":0.99286184,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"321","last_page":"326"},"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":0.9955999851226807,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9488999843597412,"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/computer-science","display_name":"Computer science","score":0.6857836246490479},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5569456219673157},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.47991856932640076},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.4592326879501343},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.4536861181259155},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3430543541908264},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.17307093739509583},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1092413067817688}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6857836246490479},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5569456219673157},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.47991856932640076},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.4592326879501343},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.4536861181259155},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3430543541908264},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.17307093739509583},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1092413067817688},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2005.1573587","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573587","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","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":0.5299999713897705}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1973878153","https://openalex.org/W2025939589","https://openalex.org/W2062691475","https://openalex.org/W2125193285","https://openalex.org/W2135406175","https://openalex.org/W2138671676","https://openalex.org/W2142992961","https://openalex.org/W2154760503","https://openalex.org/W2158678516","https://openalex.org/W2159593326","https://openalex.org/W2163921174","https://openalex.org/W2331734107","https://openalex.org/W2793678104","https://openalex.org/W2793703875","https://openalex.org/W6678669206","https://openalex.org/W6683827756","https://openalex.org/W6749558014"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W2892001695","https://openalex.org/W4249720265","https://openalex.org/W3199745080","https://openalex.org/W2792888835","https://openalex.org/W2976242825"],"abstract_inverted_index":{"KHR-I":[0,104],"has":[1,13,21,58,63,118,164,182],"been":[2,165,183],"developed":[3,101],"on":[4,49,77,115,175,185],"the":[5,44,50,59,142,145,152,180],"purpose":[6,60],"of":[7,37,73,92,121,141,148,151],"research":[8],"about":[9,159],"biped":[10],"walking.":[11],"It":[12,117],"21":[14],"DOF":[15,23,27,32],"without":[16],"hands":[17],"and":[18,30,55,68,89,102,105,127,138,156,161,179],"head,":[19],"which":[20,46],"12":[22],"in":[24,28,33,96,107,144,177,187],"legs,":[25],"1":[26],"torso,":[29],"8":[31],"arms.":[34],"The":[35,80,131],"objective":[36],"KHR-2":[38,134,176],"(41":[39],"DOF)":[40],"was":[41],"to":[42],"develop":[43],"humanoid":[45],"can":[47],"walk":[48],"living-floor":[51],"with":[52],"human-like":[53,65],"appearance":[54],"movement.":[56],"KHR-3":[57,74,186],"that":[61],"it":[62],"more":[64],"features,":[66],"movements":[67],"human-friendly":[69],"character.":[70],"Mechanical":[71],"design":[72,81,88,140,158,173,189],"is":[75,113,154],"presented":[76],"this":[78,97],"paper.":[79,98],"concept,":[82],"lower":[83],"body":[84,87],"design,":[85],"upper":[86],"actuator":[90],"selection":[91],"joints":[93,160],"are":[94,135],"included":[95],"We":[99,169],"have":[100],"published":[103],"2":[106],"last":[108],"three":[109],"years.":[110],"KHR3":[111],"platform":[112],"based":[114],"KHR-2.":[116],"41":[119],"degree":[120],"freedom":[122],"(DOF),":[123],"125":[124],"cm":[125],"height,":[126],"55":[128],"kg":[129],"weight.":[130],"differences":[132],"from":[133],"mechanical":[136,146,188],"stiffness":[137],"detailed":[139,157],"frame":[143,153,163],"point":[147],"view.":[149],"Stiffness":[150],"increased":[155],"link":[162],"modified":[166],"or":[167],"redesigned.":[168],"introduced":[170],"exterior":[171],"art":[172],"concept":[174,181],"beginning,":[178],"implemented":[184],"stage.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":14},{"year":2018,"cited_by_count":18},{"year":2017,"cited_by_count":21},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":21},{"year":2013,"cited_by_count":12},{"year":2012,"cited_by_count":19}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
