{"id":"https://openalex.org/W2902578542","doi":"https://doi.org/10.3390/robotics7040079","title":"Design and Experiments of a Novel Humanoid Robot with Parallel Architectures","display_name":"Design and Experiments of a Novel Humanoid Robot with Parallel Architectures","publication_year":2018,"publication_date":"2018-12-04","ids":{"openalex":"https://openalex.org/W2902578542","doi":"https://doi.org/10.3390/robotics7040079","mag":"2902578542"},"language":"en","primary_location":{"id":"doi:10.3390/robotics7040079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7040079","pdf_url":"https://www.mdpi.com/2218-6581/7/4/79/pdf?version=1544161558","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/2218-6581/7/4/79/pdf?version=1544161558","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034656746","display_name":"Matteo Russo","orcid":"https://orcid.org/0000-0002-8825-8983"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Matteo Russo","raw_affiliation_strings":["Laboratory of Robotics and Mechatronics, University of Cassino and Southern Latium, Via Di Biasio 43, 03043 Cassino FR, Italy"],"raw_orcid":"https://orcid.org/0000-0002-8825-8983","affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Mechatronics, University of Cassino and Southern Latium, Via Di Biasio 43, 03043 Cassino FR, Italy","institution_ids":["https://openalex.org/I186995768"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045324679","display_name":"Daniele Cafolla","orcid":"https://orcid.org/0000-0002-5602-1519"},"institutions":[{"id":"https://openalex.org/I3018288129","display_name":"Istituto Neurologico Mediterraneo","ror":"https://ror.org/00cpb6264","country_code":"IT","type":"healthcare","lineage":["https://openalex.org/I3018288129","https://openalex.org/I4210153126"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Cafolla","raw_affiliation_strings":["IRCCS Neuromed, Via Atinense 18, 86077 Pozzilli IS, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5602-1519","affiliations":[{"raw_affiliation_string":"IRCCS Neuromed, Via Atinense 18, 86077 Pozzilli IS, Italy","institution_ids":["https://openalex.org/I3018288129"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055397718","display_name":"Marco Ceccarelli","orcid":"https://orcid.org/0000-0001-9388-4391"},"institutions":[{"id":"https://openalex.org/I186995768","display_name":"Universit\u00e0 degli studi di Cassino e del Lazio Meridionale","ror":"https://ror.org/04nxkaq16","country_code":"IT","type":"education","lineage":["https://openalex.org/I186995768"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marco Ceccarelli","raw_affiliation_strings":["Laboratory of Robotics and Mechatronics, University of Cassino and Southern Latium, Via Di Biasio 43, 03043 Cassino FR, Italy"],"raw_orcid":"https://orcid.org/0000-0001-9388-4391","affiliations":[{"raw_affiliation_string":"Laboratory of Robotics and Mechatronics, University of Cassino and Southern Latium, Via Di Biasio 43, 03043 Cassino FR, Italy","institution_ids":["https://openalex.org/I186995768"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5034656746"],"corresponding_institution_ids":["https://openalex.org/I186995768"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1782},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1782},"fwci":1.4764,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.80926456,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"4","first_page":"79","last_page":"79"},"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":0.9957000017166138,"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":0.9857000112533569,"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/torso","display_name":"Torso","score":0.9394471645355225},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.679722249507904},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.6212435960769653},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6194018125534058},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.5236751437187195},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5073620676994324},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5040246844291687},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.48731955885887146},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.460777223110199},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3623771369457245},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33031192421913147},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2599276304244995},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.162702739238739},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.08201801776885986}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9394471645355225},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.679722249507904},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.6212435960769653},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6194018125534058},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.5236751437187195},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5073620676994324},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5040246844291687},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.48731955885887146},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.460777223110199},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3623771369457245},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33031192421913147},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2599276304244995},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.162702739238739},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.08201801776885986},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/robotics7040079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7040079","pdf_url":"https://www.mdpi.com/2218-6581/7/4/79/pdf?version=1544161558","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:art.torvergata.it:2108/247394","is_oa":false,"landing_page_url":"http://hdl.handle.net/2108/247394","pdf_url":null,"source":{"id":"https://openalex.org/S4306400993","display_name":"Cineca Institutional Research Information System (Tor Vergata University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I116067653","host_organization_name":"University of Rome Tor Vergata","host_organization_lineage":["https://openalex.org/I116067653"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/article"},{"id":"pmh:oai:cronfa.swan.ac.uk:cronfa62526","is_oa":true,"landing_page_url":"https://cronfa.swan.ac.uk/Record/cronfa62526","pdf_url":null,"source":{"id":"https://openalex.org/S4306401612","display_name":"Cronfa (Swansea University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I39586589","host_organization_name":"Swansea University","host_organization_lineage":["https://openalex.org/I39586589"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article"},{"id":"pmh:oai:doaj.org/article:1879fd716b9f4c9dbcc607dae28dfc52","is_oa":true,"landing_page_url":"https://doaj.org/article/1879fd716b9f4c9dbcc607dae28dfc52","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 7, Iss 4, p 79 (2018)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/robotics7040079","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics7040079","pdf_url":"https://www.mdpi.com/2218-6581/7/4/79/pdf?version=1544161558","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":[{"score":0.5799999833106995,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2902578542.pdf"},"referenced_works_count":21,"referenced_works":["https://openalex.org/W592517728","https://openalex.org/W1972588742","https://openalex.org/W2004341666","https://openalex.org/W2098860858","https://openalex.org/W2107149337","https://openalex.org/W2108890480","https://openalex.org/W2161222115","https://openalex.org/W2184477469","https://openalex.org/W2406007933","https://openalex.org/W2488961413","https://openalex.org/W2496096732","https://openalex.org/W2540104143","https://openalex.org/W2547718374","https://openalex.org/W2586277234","https://openalex.org/W2621797775","https://openalex.org/W2730083658","https://openalex.org/W2764146778","https://openalex.org/W2772858961","https://openalex.org/W2780825478","https://openalex.org/W6676294517","https://openalex.org/W6681532280"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2892001695","https://openalex.org/W2902578542","https://openalex.org/W3199745080","https://openalex.org/W2792888835","https://openalex.org/W4249720265","https://openalex.org/W2976242825"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,7,26,36,60,63,83,86,95],"mechanical":[4],"design":[5,32],"of":[6,38,62,74,85],"LARMbot":[8,17],"2,":[9],"a":[10,54],"low-cost":[11],"user-oriented":[12],"humanoid":[13],"robot":[14],"was":[15,33,51,68],"presented.":[16],"2":[18],"is":[19],"characterized":[20,52],"by":[21,53],"parallel":[22],"architectures":[23],"for":[24,93],"both":[25,94],"torso":[27],"and":[28,77,97],"legs.":[29],"The":[30],"proposed":[31,87],"presented":[34,92],"with":[35,71],"kinematics":[37],"its":[39,47,75,78],"main":[40],"parts\u2014legs,":[41],"torso,":[42],"arms\u2014and":[43],"then":[44,69],"compared":[45],"to":[46,58],"previous":[48],"version,":[49],"which":[50],"different":[55],"leg":[56],"mechanism,":[57],"highlight":[59],"advantages":[61],"latest":[64],"design.":[65],"A":[66],"prototype":[67],"presented,":[70],"constructive":[72],"details":[73],"subsystems":[76],"technical":[79],"specifications.":[80],"To":[81],"characterize":[82],"performance":[84],"robot,":[88],"experimental":[89],"results":[90],"were":[91],"walking":[96],"weight-lifting":[98],"operations.":[99]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3}],"updated_date":"2026-07-30T17:31:21.811387","created_date":"2025-10-10T00:00:00"}