{"id":"https://openalex.org/W4402919188","doi":"https://doi.org/10.3390/robotics13100146","title":"RoboMan: An Adult-Sized Humanoid Robot with Enhanced Performance, Inherent Stability, and Two-Stage Balance Control to Facilitate Research on Humanoids","display_name":"RoboMan: An Adult-Sized Humanoid Robot with Enhanced Performance, Inherent Stability, and Two-Stage Balance Control to Facilitate Research on Humanoids","publication_year":2024,"publication_date":"2024-09-27","ids":{"openalex":"https://openalex.org/W4402919188","doi":"https://doi.org/10.3390/robotics13100146"},"language":"en","primary_location":{"id":"doi:10.3390/robotics13100146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13100146","pdf_url":"https://www.mdpi.com/2218-6581/13/10/146/pdf?version=1727665685","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/13/10/146/pdf?version=1727665685","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103097233","display_name":"Vahid Mohammadi","orcid":"https://orcid.org/0009-0007-0352-209X"},"institutions":[{"id":"https://openalex.org/I122266389","display_name":"University of Nebraska at Omaha","ror":"https://ror.org/04yrkc140","country_code":"US","type":"education","lineage":["https://openalex.org/I122266389"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vahid Mohammadi","raw_affiliation_strings":["Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"],"raw_orcid":"https://orcid.org/0009-0007-0352-209X","affiliations":[{"raw_affiliation_string":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA","institution_ids":["https://openalex.org/I122266389"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019211964","display_name":"Mojtaba Hosseini","orcid":"https://orcid.org/0000-0002-1932-2486"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technische Universit\u00e4t Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Mojtaba Hosseini","raw_affiliation_strings":["Energy Robotics GmbH, Hilpertstra\u00dfe 31, 64295 Darmstadt, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Energy Robotics GmbH, Hilpertstra\u00dfe 31, 64295 Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006551481","display_name":"Farhad Jafari","orcid":"https://orcid.org/0000-0003-1256-2441"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farhad Jafari","raw_affiliation_strings":["Independent Researcher, Tehran 19395-3851, Iran"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Independent Researcher, Tehran 19395-3851, Iran","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069236745","display_name":"Ahad Behboodi","orcid":"https://orcid.org/0000-0003-4193-4769"},"institutions":[{"id":"https://openalex.org/I122266389","display_name":"University of Nebraska at Omaha","ror":"https://ror.org/04yrkc140","country_code":"US","type":"education","lineage":["https://openalex.org/I122266389"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ahad Behboodi","raw_affiliation_strings":["Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA"],"raw_orcid":"https://orcid.org/0000-0003-4193-4769","affiliations":[{"raw_affiliation_string":"Department of Biomechanics, University of Nebraska Omaha, Omaha, NE 68106, USA","institution_ids":["https://openalex.org/I122266389"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5069236745"],"corresponding_institution_ids":["https://openalex.org/I122266389"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":0.8462,"has_fulltext":true,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67841577,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"13","issue":"10","first_page":"146","last_page":"146"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9886000156402588,"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":0.9886000156402588,"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":0.9664999842643738,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9065999984741211,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7633678913116455},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6652960777282715},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5923776030540466},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4973783791065216},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47961318492889404},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47567716240882874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46965208649635315},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.43797045946121216},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.41133323311805725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3067125976085663},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1667429804801941},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1500428318977356},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.07194250822067261},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.04986879229545593}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7633678913116455},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6652960777282715},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5923776030540466},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4973783791065216},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47961318492889404},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47567716240882874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46965208649635315},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.43797045946121216},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.41133323311805725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3067125976085663},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1667429804801941},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1500428318977356},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.07194250822067261},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.04986879229545593}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/robotics13100146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13100146","pdf_url":"https://www.mdpi.com/2218-6581/13/10/146/pdf?version=1727665685","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:36c38f3ae9714068b51a90173db063cc","is_oa":true,"landing_page_url":"https://doaj.org/article/36c38f3ae9714068b51a90173db063cc","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","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":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 13, Iss 10, p 146 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics13100146","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics13100146","pdf_url":"https://www.mdpi.com/2218-6581/13/10/146/pdf?version=1727665685","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4402919188.pdf","grobid_xml":"https://content.openalex.org/works/W4402919188.grobid-xml"},"referenced_works_count":25,"referenced_works":["https://openalex.org/W123299262","https://openalex.org/W1427124620","https://openalex.org/W1945123189","https://openalex.org/W2000535285","https://openalex.org/W2016565202","https://openalex.org/W2026582138","https://openalex.org/W2057299504","https://openalex.org/W2111966261","https://openalex.org/W2160686985","https://openalex.org/W2594658746","https://openalex.org/W2730539781","https://openalex.org/W2765080636","https://openalex.org/W2766149128","https://openalex.org/W2806078540","https://openalex.org/W2968213087","https://openalex.org/W3000384185","https://openalex.org/W3081572433","https://openalex.org/W4286494313","https://openalex.org/W4360778404","https://openalex.org/W4389665356","https://openalex.org/W4393237335","https://openalex.org/W4394923647","https://openalex.org/W4399533690","https://openalex.org/W6630087979","https://openalex.org/W6987497719"],"related_works":["https://openalex.org/W2536076676","https://openalex.org/W107892592","https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110"],"abstract_inverted_index":{"Creating":[0],"an":[1,67,263],"adult-sized":[2,59],"humanoid":[3,81,272],"robot":[4,82,215],"with":[5,137,175,187,224],"stable":[6,182],"walking":[7,93,162],"capabilities":[8],"is":[9,118],"a":[10,122,138,257],"major":[11],"challenge":[12],"in":[13,79,92,102,152,169,222,271],"robotics.":[14,273],"While":[15],"many":[16],"renowned":[17],"research":[18,40,62,267],"groups":[19,41],"focus":[20],"on":[21,164,203],"robots":[22],"for":[23,58,128,143,211,242,266],"perilous":[24],"work":[25],"environments":[26],"and":[27,42,55,94,109,120,125,146,230,246,268],"precision":[28],"tasks,":[29],"our":[30],"approach":[31],"simplifies":[32],"balance":[33,110,140],"control,":[34],"making":[35],"it":[36],"accessible":[37],"to":[38,88,131,192,227,261],"robotics":[39],"educational":[43],"institutes.":[44],"This":[45,61],"facilitates":[46],"the":[47,75,170,176,181,189,207,214,253],"development":[48],"of":[49,70,172,178,213,252],"complex":[50],"functionalities":[51],"such":[52],"as":[53,219],"vision":[54],"object":[56],"manipulation":[57],"humanoids.":[60],"article":[63],"introduces":[64],"RoboMan":[65,71,97,116,160,235],"II,":[66],"advanced":[68],"version":[69],"I,":[72],"which":[73],"won":[74],"most":[76],"prestigious":[77],"award":[78],"all":[80,212],"leagues":[83],"at":[84],"RoboCup":[85],"2016":[86],"due":[87],"its":[89,114,129,133,150],"exceptional":[90],"performance":[91],"playing":[95],"soccer.":[96],"II":[98,117],"features":[99],"significant":[100],"improvements":[101,200],"performance,":[103],"inherent":[104,134],"stability,":[105,135],"recovery":[106],"after":[107,256],"falls,":[108],"control.":[111],"To":[112],"facilitate":[113,228],"development,":[115],"lighter":[119],"incorporates":[121],"modified":[123],"foot":[124],"parallel":[126],"structure":[127],"leg":[130],"boost":[132],"along":[136],"two-stage":[139],"control":[141],"system":[142],"Immediate":[144],"Response":[145],"Gradual":[147],"Adaptation,":[148],"enhancing":[149],"adaptability":[151],"various":[153],"environments.":[154],"Our":[155],"simulation":[156],"results":[157],"demonstrate":[158],"that":[159],"II\u2019s":[161],"stability":[163],"flat":[165],"surfaces":[166],"improved":[167],"significantly":[168],"face":[171],"minor":[173],"perturbations,":[174],"number":[177],"steps":[179],"within":[180],"region":[183],"increasing":[184],"from":[185],"24%,":[186],"only":[188],"immediate":[190],"controller":[191],"58%":[193],"when":[194],"both":[195],"controllers":[196],"were":[197,201],"used.":[198],"Similar":[199],"observed":[202],"inclined":[204],"surfaces.":[205],"Additionally,":[206],"3D":[208],"CAD":[209],"files":[210],"parts":[216],"are":[217],"released":[218],"open":[220],"source":[221],"conjunction":[223],"this":[225],"paper":[226],"reproduction":[229],"further":[231],"innovation.":[232],"The":[233],"forthcoming":[234],"III":[236],"will":[237],"incorporate":[238],"custom":[239],"servo":[240],"motors":[241],"increased":[243],"speed,":[244],"torque,":[245],"enhanced":[247],"fall":[248],"recovery,":[249],"preventing":[250],"disengagement":[251],"gear":[254],"box":[255],"fall.":[258],"It":[259],"promises":[260],"be":[262],"invaluable":[264],"asset":[265],"practical":[269],"applications":[270]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2025-10-10T00:00:00"}