{"id":"https://openalex.org/W2058339344","doi":"https://doi.org/10.1142/s0219843608001327","title":"A KINEMATIC MODEL OF THE UPPER LIMB WITH A CLAVICLE-LIKE LINK FOR HUMANOID ROBOTS","display_name":"A KINEMATIC MODEL OF THE UPPER LIMB WITH A CLAVICLE-LIKE LINK FOR HUMANOID ROBOTS","publication_year":2008,"publication_date":"2008-03-01","ids":{"openalex":"https://openalex.org/W2058339344","doi":"https://doi.org/10.1142/s0219843608001327","mag":"2058339344"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843608001327","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843608001327","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-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/A5021488416","display_name":"Bertrand Tondu","orcid":"https://orcid.org/0000-0002-0301-397X"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"BERTRAND TONDU","raw_affiliation_strings":["LATTIS/INSA, Universit\u00e9 de Toulouse, Campus Universitaire de Rangueil, 31077 Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LATTIS/INSA, Universit\u00e9 de Toulouse, Campus Universitaire de Rangueil, 31077 Toulouse, France","institution_ids":["https://openalex.org/I17866349"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5021488416"],"corresponding_institution_ids":["https://openalex.org/I17866349"],"apc_list":null,"apc_paid":null,"fwci":1.2281,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79862304,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"05","issue":"01","first_page":"87","last_page":"118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9918000102043152,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9918000102043152,"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":0.9842000007629395,"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"}},{"id":"https://openalex.org/T10280","display_name":"Shoulder Injury and Treatment","score":0.9789999723434448,"subfield":{"id":"https://openalex.org/subfields/2746","display_name":"Surgery"},"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/kinematics","display_name":"Kinematics","score":0.758453369140625},{"id":"https://openalex.org/keywords/shoulder-girdle","display_name":"Shoulder girdle","score":0.7294495701789856},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6968761086463928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6650720238685608},{"id":"https://openalex.org/keywords/elbow","display_name":"Elbow","score":0.6275886297225952},{"id":"https://openalex.org/keywords/upper-limb","display_name":"Upper limb","score":0.5908206701278687},{"id":"https://openalex.org/keywords/clavicle","display_name":"Clavicle","score":0.540289580821991},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5282097458839417},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5259388089179993},{"id":"https://openalex.org/keywords/shoulder-joint","display_name":"Shoulder joint","score":0.4582767188549042},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.43360036611557007},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3822673261165619},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3408347964286804},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.2990952134132385},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23313501477241516},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19359958171844482},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.12410929799079895}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.758453369140625},{"id":"https://openalex.org/C2778141155","wikidata":"https://www.wikidata.org/wiki/Q756066","display_name":"Shoulder girdle","level":2,"score":0.7294495701789856},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6968761086463928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6650720238685608},{"id":"https://openalex.org/C2781184374","wikidata":"https://www.wikidata.org/wiki/Q42586","display_name":"Elbow","level":2,"score":0.6275886297225952},{"id":"https://openalex.org/C2776660947","wikidata":"https://www.wikidata.org/wiki/Q841423","display_name":"Upper limb","level":2,"score":0.5908206701278687},{"id":"https://openalex.org/C2780193326","wikidata":"https://www.wikidata.org/wiki/Q16343","display_name":"Clavicle","level":2,"score":0.540289580821991},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5282097458839417},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5259388089179993},{"id":"https://openalex.org/C2780457017","wikidata":"https://www.wikidata.org/wiki/Q1758798","display_name":"Shoulder joint","level":2,"score":0.4582767188549042},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.43360036611557007},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3822673261165619},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3408347964286804},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.2990952134132385},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23313501477241516},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19359958171844482},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.12410929799079895},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843608001327","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843608001327","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1256870269","https://openalex.org/W1511085627","https://openalex.org/W1513000923","https://openalex.org/W1967397704","https://openalex.org/W1972048784","https://openalex.org/W2006839741","https://openalex.org/W2007388036","https://openalex.org/W2010262288","https://openalex.org/W2013141172","https://openalex.org/W2044218253","https://openalex.org/W2045688480","https://openalex.org/W2050488622","https://openalex.org/W2053518269","https://openalex.org/W2060004338","https://openalex.org/W2139795879","https://openalex.org/W2146279861","https://openalex.org/W2160436777","https://openalex.org/W2169508341","https://openalex.org/W2223798489","https://openalex.org/W2267469659","https://openalex.org/W2611593169","https://openalex.org/W2996820172"],"related_works":["https://openalex.org/W2019944248","https://openalex.org/W1972918821","https://openalex.org/W4254002021","https://openalex.org/W64233403","https://openalex.org/W218807640","https://openalex.org/W4235760435","https://openalex.org/W2275303679","https://openalex.org/W2792433088","https://openalex.org/W2410139528","https://openalex.org/W4254131274"],"abstract_inverted_index":{"Starting":[0],"from":[1],"a":[2,12,23,59,100],"biomechanical":[3],"study":[4],"of":[5,11,18,37,47,87],"the":[6,9,19,38,45,48,71,85,103],"shoulder":[7,104],"complex,":[8],"relevance":[10],"serial":[13],"nine":[14],"d.o.f.":[15,96],"kinematic":[16],"model":[17,36],"human":[20],"arm,":[21],"including":[22],"clavicle-like":[24],"link,":[25],"was":[26],"analyzed.":[27],"It":[28],"is":[29,41,107],"shown":[30],"that":[31],"this":[32,74],"partial":[33],"biomimetic":[34],"joint":[35],"upper":[39,90],"limb":[40],"able":[42],"to":[43,51,65,70,78],"mimic":[44],"ability":[46],"natural":[49],"arm":[50],"practically":[52],"eliminate":[53],"internal":[54],"and":[55],"bound":[56],"singularities":[57],"over":[58],"large":[60],"frontal":[61],"zone,":[62],"so":[63],"as":[64],"maintain":[66],"its":[67],"elbow":[68],"laterally":[69],"body.":[72],"In":[73],"sense,":[75],"it":[76],"appears":[77],"be":[79],"an":[80],"advanced":[81],"solution":[82],"for":[83],"increasing":[84],"dexterity":[86],"humanoid":[88],"robot":[89],"limbs,":[91],"thus":[92],"replacing":[93],"classical":[94],"seven":[95],"anthropomorphic":[97],"arms":[98],"where":[99],"device":[101],"mimicking":[102],"girdle":[105],"mechanism":[106],"absent.":[108]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
