{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T20:14:26Z","timestamp":1767989666956,"version":"3.49.0"},"reference-count":32,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2018,3,5]],"date-time":"2018-03-05T00:00:00Z","timestamp":1520208000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2018,10]]},"DOI":"10.1007\/s10846-017-0750-z","type":"journal-article","created":{"date-parts":[[2018,3,5]],"date-time":"2018-03-05T14:59:39Z","timestamp":1520261979000},"page":"293-308","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Development of a New Hydraulic Ankle for HYDRO\u00efD Humanoid Robot"],"prefix":"10.1007","volume":"92","author":[{"given":"A.","family":"Abdellatif","sequence":"first","affiliation":[]},{"given":"S.","family":"Alfayad","sequence":"additional","affiliation":[]},{"given":"Arne-Christoph","family":"Hildebrandt","sequence":"additional","affiliation":[]},{"given":"F. B.","family":"Ouezdou","sequence":"additional","affiliation":[]},{"given":"N.","family":"Mechbal","sequence":"additional","affiliation":[]},{"given":"Yahya","family":"Zweiri","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2018,3,5]]},"reference":[{"key":"750_CR1","unstructured":"Alfayad, S., Ouezdou, F., Namoun, F.: Humanoid robot implementing a ball and socket joint, US Patent 12\/991,443 (2011)"},{"key":"750_CR2","doi-asserted-by":"crossref","unstructured":"Takanobu, H., Guglielmelli, E., Tabayashi, H., Narita, S., Takanishi, A., Dario, P.: Remote interaction between human and humanoid robot, IARP First International Workshop on Humanoid and Human Friendly Robotics (1998)","DOI":"10.1023\/A:1008131113011"},{"issue":"2","key":"750_CR3","doi-asserted-by":"publisher","first-page":"117","DOI":"10.1023\/A:1024172417914","volume":"37","author":"D Kati\u0107","year":"2003","unstructured":"Kati\u0107, D., Vukobratovi\u0107, M.: Survey of intelligent control techniques for humanoid robots. J. Intell. Robot. Syst. 37(2), 117\u2013141 (2003). https:\/\/doi.org\/10.1023\/A:1024172417914","journal-title":"J. Intell. Robot. Syst."},{"key":"750_CR4","first-page":"1321:1326","volume":"2","author":"K Hirai","year":"1998","unstructured":"Hirai, K., Hirose, M., Haikawa, Y., Takenaka, T.: The development of honda humanoid robot. Int. Conf. Robot. Autom. 2, 1321:1326 (1998)","journal-title":"Int. Conf. Robot. Autom."},{"key":"750_CR5","doi-asserted-by":"crossref","unstructured":"Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: Mechatronic design of NAO humanoid. In: 2009 IEEE International Conference on Robotics and Automation. ISSN 1050:4729, p 769:774 (2009)","DOI":"10.1109\/ROBOT.2009.5152516"},{"key":"750_CR6","unstructured":"Ulbrich, H., Buschmann, T., Lohmeier, S.: Design and realization of humanoid robots at AM-TUM, Proc. XII Intl. Symp., no. Diname (2007)"},{"key":"750_CR7","doi-asserted-by":"crossref","unstructured":"Ogura, Y., Aikawa, H., Kazushi, S., Kondo, H., Morishima, A., Takanishi, H.L.A.: Development of a New Humanoid Robot WABIAN-2, Proc. of IEEE ICRA 2006, pp. 76\u201381, Orlando, Florida","DOI":"10.1109\/ROBOT.2006.1641164"},{"key":"750_CR8","doi-asserted-by":"crossref","unstructured":"Hyon, S.H., Yoneda, T., Suewaka, D.: Lightweight hydraulic leg to explore agile legged locomotion. In: Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS), pp. 4655\u20134660 (2013)","DOI":"10.1109\/IROS.2013.6697026"},{"key":"750_CR9","doi-asserted-by":"crossref","unstructured":"Cheng, G., Hyon, S.H., Morimoto, J., Ale\u0161, U., Colvin, G., Scroggin, W., Jacobsen, S.C.: A humanoid research platform for exploring NeuroScience. In: Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, vol. 21, p 182:187 (2006)","DOI":"10.1109\/ICHR.2006.321382"},{"key":"750_CR10","doi-asserted-by":"crossref","unstructured":"Bentivegna, D.C., Atkeson, C.G., Kim, J.Y.: Compliant control of a hydraulic humanoid joint. In: Proceedings of the 2007 7th IEEERAS International Conference on Humanoid Robots, HUMANOIDS 2007, p 483:489 (2008)","DOI":"10.1109\/ICHR.2007.4813914"},{"key":"750_CR11","doi-asserted-by":"crossref","unstructured":"Semini, C., Tsagarakis, N.G., Guglielmino, E., Caldwell, D.G.: Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot. In: International Conference on Intelligent Robots and Systems - IROS, p 3640:3645 (2010)","DOI":"10.1109\/IROS.2010.5651548"},{"key":"750_CR12","doi-asserted-by":"crossref","unstructured":"Kuindersma, S., Deits, R., Andr, M.F., Dai, H., Permenter, F., Pat, K., Russ, M.: Optimization-based locomotion planning, estimation and control design for the atlas humanoid robot (2014)","DOI":"10.1007\/s10514-015-9479-3"},{"key":"750_CR13","doi-asserted-by":"crossref","unstructured":"Alfayad, S., Ouezdou, F.B., Namoun, F., Bruneau, O., H\u00e9naff, P.: Three DOF hybrid mechanism for humanoid robotic application: modeling, design and realization. In: 2009 IEEE\/RSJ International Conference Intelligent Robotic Systems IROS 2009, pp 4955\u20134961 (2009)","DOI":"10.1109\/IROS.2009.5354811"},{"issue":"1","key":"750_CR14","first-page":"3201","volume":"16","author":"SH Masaru Ogata","year":"2004","unstructured":"Masaru Ogata, S.H.: Study on ankle mechanisms for walking robots. J. Robot. Mechatronics 16(1), 3201\u20133206 (2004)","journal-title":"J. Robot. Mechatronics"},{"key":"750_CR15","doi-asserted-by":"publisher","unstructured":"Syrseloudis, C.E., Emiris, I.Z.: A parallel robot for ankle rehabilitation-evaluation and its design. In: 8th IEEE International Conference on BioInformatics and BioEngineering. https:\/\/doi.org\/10.1109\/BIBE.2008.4696826 , pp 1\u20136 (2008)","DOI":"10.1109\/BIBE.2008.4696826"},{"key":"750_CR16","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2016\/9707801","volume":"2016","author":"Francesco Aggogeri","year":"2016","unstructured":"Aggogeri, F., Pellegrini, N., Adamini, R.: Functional Design in Rehabilitation: Modular Mechanisms for Ankle Complex, vol. 2016 (2016)","journal-title":"Applied Bionics and Biomechanics"},{"issue":"2","key":"750_CR17","doi-asserted-by":"publisher","first-page":"623","DOI":"10.1109\/TMECH.2016.2628870","volume":"22","author":"Sang-Ho Hyon","year":"2017","unstructured":"Member, S.H., Suewaka, D., Torii, Y., Oku, N., Ishida, H.: Design and experimental evaluation of a fast torque-controlled hydraulic humanoid robot. IEEE\/ASME Trans. Mechatron., 1\u20138. https:\/\/doi.org\/10.1109\/TMECH.2016.2628870 (2016)","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"750_CR18","doi-asserted-by":"crossref","unstructured":"Omer, A., Ghorbani, R., Hashimoto, K., Lim, H., Takanishi, A.: A Novel Design for Adjustable Stiffness Artificial Tendon for the Ankle Joint of a Bipedal Robot: Modeling and Simulation, 1\u201322 (2015)","DOI":"10.3390\/machines4010001"},{"key":"750_CR19","doi-asserted-by":"publisher","unstructured":"Narioka, K., Homma, T., Hosoda, K.: Humanlike ankle-foot complex for a biped robot. In: 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), vol. 2012, pp 15\u201320, Osaka (2012). https:\/\/doi.org\/10.1109\/HUMANOIDS.2012.6651493","DOI":"10.1109\/HUMANOIDS.2012.6651493"},{"key":"750_CR20","doi-asserted-by":"crossref","unstructured":"Ouezdou, F.B., Alfayad, S., Almasri, B.: Comparison of several kinds of feet for humanoid robot. In: Proceedings of 2005 5th IEEE-RAS International Conference on Humanoid Robots, 2005, p 123:128 (2005)","DOI":"10.1109\/ICHR.2005.1573556"},{"key":"750_CR21","doi-asserted-by":"publisher","unstructured":"David, A., Chardonnet, J.R., Kheddar, A., Kaneko, K., Yokoi, K.: Study of an external passive shock-absorbing mechanism for walking robots. In: Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots, pp 435\u2013440, Daejeon (2008). https:\/\/doi.org\/10.1109\/ICHR.2008.4755991","DOI":"10.1109\/ICHR.2008.4755991"},{"key":"750_CR22","doi-asserted-by":"crossref","unstructured":"Yang, Y., Semini, C., Tsagarakis, N.G., Guglielmino, E., Caldwell, D.G.: Leg mechanisms for hydraulically actuated robots. In: IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009, p 4669:4675 (2009)","DOI":"10.1109\/IROS.2009.5354340"},{"issue":"1","key":"750_CR23","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1186\/s40638-014-0017-0","volume":"1","author":"EM Ficanha","year":"2014","unstructured":"Ficanha, E.M., Rastgaar, M., Kaufman, K.R.: A two-axis cable-driven ankle-foot mechanism. Robot. Biomimetics 1(1), 17 (2014)","journal-title":"Robot. Biomimetics"},{"key":"750_CR24","doi-asserted-by":"publisher","first-page":"021005","DOI":"10.1115\/1.4003250","volume":"133","author":"S Alfayad","year":"2011","unstructured":"Alfayad, S., Ouezdou, F.B., Namoun, F.: New 3-DOFs hybrid mechanism for ankle and wrist of humanoid robot: modeling, simulation, and experiments. J. Mech. Des. 133, 021005 (2011). ISSN 10500472","journal-title":"J. Mech. Des."},{"key":"750_CR25","doi-asserted-by":"publisher","first-page":"124","DOI":"10.1016\/j.sna.2011.03.019","volume":"169","author":"S Alfayad","year":"2011","unstructured":"Alfayad, S., Ouezdou, F.B., Namoun, F., Gheng, G.: High performance integrated electro-hydraulic actuator for robotics. Part II: Theoretical modelling, simulation, control & comparison with real measurements. Sens. Actuators, A 169, 124\u2013132 (2011)","journal-title":"Sens. Actuators, A"},{"key":"750_CR26","unstructured":"Aphale, S.S.: Designing Orthogonal Gough Stewart Platforms with Robust Fault Tolerance. PhD thesis, Laramie, WY, USA. AAI3188203 (2005)"},{"key":"750_CR27","unstructured":"Rabie, M.G.: Fluid Power Engineering. 2009, p. 420"},{"issue":"2","key":"750_CR28","first-page":"105:113","volume":"51","author":"PJ Gamez-Montero","year":"2009","unstructured":"Gamez-Montero, P.J., Salazar, E., Castilla, R., Freire, J., Khamashta, M., Codina, E.: Misalignment effects on the load capacity of a hydraulic cylinder. Int. J. Mech. Sci. 51(2), 105:113 (2009)","journal-title":"Int. J. Mech. Sci."},{"key":"750_CR29","unstructured":"Merritt, F., Systems, H.C., Wiley, J.: Electro-hydraulic Servo Valve construction, Models and Use, Control (1967)"},{"key":"750_CR30","unstructured":"Faisandier, J.: M\u00e9canismes hydrauliques et pneumatiques. Collection: Technique et ing\u00e9nierie, s\u00e9rie m\u00e9canique. Paris 8 edition (1999)"},{"issue":"65","key":"750_CR31","first-page":"75","volume":"22","author":"XB Tran","year":"2012","unstructured":"Tran, X.B., Hafizah, N., Yanada, H.: Modeling of dynamic friction behaviors of hydraulic cylinders. Mechatronics 22(65), 75 (2012)","journal-title":"Mechatronics"},{"key":"750_CR32","unstructured":"Ellman, A., Koivula, T.S., Vilenius, M.J.: Hydraulic cylinder seal friction - comparison of two seal designs. In: 15th International Conference on Fluid Sealing (1997)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-017-0750-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0750-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-017-0750-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,2]],"date-time":"2025-07-02T10:16:46Z","timestamp":1751451406000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-017-0750-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,3,5]]},"references-count":32,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2018,10]]}},"alternative-id":["750"],"URL":"https:\/\/doi.org\/10.1007\/s10846-017-0750-z","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,3,5]]},"assertion":[{"value":"10 January 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 November 2017","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 March 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}