{"id":"https://openalex.org/W1961482906","doi":"https://doi.org/10.17169/refubium-10659","title":"Development of an autonomous humanoid robot team","display_name":"Development of an autonomous humanoid robot team","publication_year":2012,"publication_date":"2012-01-01","ids":{"openalex":"https://openalex.org/W1961482906","doi":"https://doi.org/10.17169/refubium-10659","mag":"1961482906"},"language":"en","primary_location":{"id":"pmh:oai:diss.fu-berlin.de:FUDISS_thesis_000000036090","is_oa":false,"landing_page_url":"http://edocs.fu-berlin.de/diss/receive/FUDISS_thesis_000000036090","pdf_url":null,"source":{"id":"https://openalex.org/S7407052913","display_name":"Universit\u00e4tsbibliothek der FU Berlin Hochschulschriftenstelle u. Dokumentenserver","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"},"type":"dissertation","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://refubium.fu-berlin.de/handle/fub188/6460","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5086864445","display_name":"Hamid Mobalegh","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Mobalegh, Hamid","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5086864445"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.6668000221252441,"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":0.6668000221252441,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.6225000023841858,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/humanoid-robot","display_name":"Humanoid robot","score":0.6993444561958313},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5259671211242676},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45610716938972473},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42134207487106323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37046360969543457},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.370332807302475}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6993444561958313},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5259671211242676},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45610716938972473},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42134207487106323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37046360969543457},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.370332807302475}],"mesh":[],"locations_count":4,"locations":[{"id":"pmh:oai:diss.fu-berlin.de:FUDISS_thesis_000000036090","is_oa":false,"landing_page_url":"http://edocs.fu-berlin.de/diss/receive/FUDISS_thesis_000000036090","pdf_url":null,"source":{"id":"https://openalex.org/S7407052913","display_name":"Universit\u00e4tsbibliothek der FU Berlin Hochschulschriftenstelle u. Dokumentenserver","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"","raw_type":"doc-type:doctoralThesis"},{"id":"pmh:oai:refubium.fu-berlin.de:fub188/6460","is_oa":true,"landing_page_url":"https://refubium.fu-berlin.de/handle/fub188/6460","pdf_url":"https://refubium.fu-berlin.de/handle/fub188/6460","source":{"id":"https://openalex.org/S4306402444","display_name":"Refubium (Universit\u00e4tsbibliothek der Freien Universit\u00e4t Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I75951250","host_organization_name":"Freie Universit\u00e4t Berlin","host_organization_lineage":["https://openalex.org/I75951250"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Dissertation"},{"id":"pmh:oai:aleph.bib-bvb.de:BVB01-024778853","is_oa":false,"landing_page_url":"http://www.diss.fu-berlin.de/diss/receive/FUDISS_thesis_000000036090","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Hochschulschrift"},{"id":"doi:10.17169/refubium-10659","is_oa":true,"landing_page_url":"https://doi.org/10.17169/refubium-10659","pdf_url":null,"source":{"id":"https://openalex.org/S7407052913","display_name":"Universit\u00e4tsbibliothek der FU Berlin Hochschulschriftenstelle u. Dokumentenserver","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":null}],"best_oa_location":{"id":"pmh:oai:refubium.fu-berlin.de:fub188/6460","is_oa":true,"landing_page_url":"https://refubium.fu-berlin.de/handle/fub188/6460","pdf_url":"https://refubium.fu-berlin.de/handle/fub188/6460","source":{"id":"https://openalex.org/S4306402444","display_name":"Refubium (Universit\u00e4tsbibliothek der Freien Universit\u00e4t Berlin)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I75951250","host_organization_name":"Freie Universit\u00e4t Berlin","host_organization_lineage":["https://openalex.org/I75951250"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Dissertation"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320314997","display_name":"Strong","ror":"https://ror.org/041vyzr56"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W1961482906.pdf","grobid_xml":"https://content.openalex.org/works/W1961482906.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W3153602626","https://openalex.org/W2521172403","https://openalex.org/W2288682678","https://openalex.org/W2518006930","https://openalex.org/W2117935513","https://openalex.org/W2744216557","https://openalex.org/W2387588469","https://openalex.org/W2355408314","https://openalex.org/W2050620867","https://openalex.org/W2540400161","https://openalex.org/W2145435610","https://openalex.org/W2516566354","https://openalex.org/W2190006473","https://openalex.org/W2141325611","https://openalex.org/W2282510899","https://openalex.org/W2196792228","https://openalex.org/W3141742892","https://openalex.org/W3144754511","https://openalex.org/W2520930588","https://openalex.org/W26014592"],"abstract_inverted_index":{"In":[0],"this":[1,111,311],"thesis":[2,60,88,312],"I":[3,57,69,98,190,196,243],"describe":[4,191],"the":[5,18,20,59,62,65,74,81,87,92,121,154,181,187,199,237,263,276,280,286,289,293,316,321,326],"design":[6,79],"and":[7,35,45,51,77,113,116,128,159,175,183,221,226,261,270,307],"development":[8,202],"of":[9,64,80,86,135,143,162,186,203,233,239,259,275,288,320,324],"a":[10,54,101,133,140,204,216,222,257,272,298,302],"fully":[11],"autonomous":[12],"humanoid":[13,141,318],"team":[14,26,319],"to":[15,236,295],"participate":[16],"in":[17,32,73,231,279,292,310,315],"RoboCup,":[19],"world":[21],"robot":[22,142],"soccer":[23],"championship.":[24],"The":[25,83,104,148,166,201,212,253,282,305],"has":[27],"had":[28,36],"several":[29,192],"successful":[30],"participations":[31],"RoboCup":[33,317],"competitions,":[34],"won":[37],"many":[38],"awards":[39],"including":[40],"3rd":[41],"place":[42,48],"at":[43,49],"RoboCup2007,":[44],"twice":[46],"second":[47,283],"RoboCup2009":[50],"2010.":[52],"After":[53],"short":[55],"introduction,":[56],"begin":[58],"with":[61,91,132],"description":[63],"robotic":[66],"platform,":[67],"here":[68,169],"explain":[70],"my":[71],"contributions":[72],"mechanical,":[75],"electrical":[76],"software":[78],"robots.":[82],"next":[84],"part":[85],"is":[89,150,160,209],"concerned":[90],"stabilization":[93],"methods":[94,158,247,308],"for":[95,139,198,248],"bipedal":[96],"locomotion.":[97],"first":[99,254],"developed":[100,197],"simulation":[102],"platform.":[103],"control":[105],"algorithms":[106],"are":[107],"designed":[108],"based":[109,250,266],"on":[110,120,177,215,267],"platform":[112],"then":[114],"completed":[115],"fi":[117,296],"ne":[118],"tuned":[119],"real":[122],"robot.":[123,200],"My":[124],"methodology":[125],"facilitates":[126],"rapid":[127],"robust":[129],"omnidirectional":[130],"walking":[131],"velocity":[134],"over":[136],"40":[137],"cm/s":[138],"60":[144],"cm":[145],"overall":[146],"height.":[147],"method":[149,255],"much":[151],"simpler":[152],"than":[153],"current":[155],"state-of-":[156],"the-art":[157],"capable":[161],"compensating":[163],"large":[164],"perturbations.":[165],"approach":[167],"described":[168],"does":[170],"not":[171],"necessarily":[172],"use":[173],"accelerometers":[174],"relies":[176],"position":[178],"feedback":[179],"from":[180],"motors":[182],"ground":[184],"contact":[185],"feet.":[188],"Afterwards,":[189],"computer":[193],"vision":[194],"solutions":[195],"color-based":[205],"object":[206,251,300],"recognition":[207],"module":[208,213],"presented":[210,309],"first.":[211],"uses":[214,256,285],"small":[217],"low-cost":[218],"CMOS":[219],"camera":[220],"low":[223],"power":[224],"microcontroller":[225,228],"provides":[227],"compatible":[229],"output,":[230],"form":[232],"serial":[234],"access":[235],"list":[238],"recognized":[240],"objects.":[241],"Finally,":[242],"propose":[244],"two":[245],"new":[246],"shape-":[249],"recognition.":[252],"grid":[258],"cells":[260],"clusters":[262],"edge":[264,277,290],"points":[265],"their":[268],"orientations":[269,291],"reports":[271],"connection":[273],"graph":[274],"structure":[278],"image.":[281],"algorithm":[284],"statistics":[287],"image":[294],"nd":[297],"round":[299],"using":[301],"recursive":[303],"method.":[304],"ideas":[306],"were":[313],"implemented":[314],"Free":[322],"University":[323],"Berlin,":[325],"FUmanoids.":[327]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2025-10-10T00:00:00"}