{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T15:56:51Z","timestamp":1781107011348,"version":"3.54.1"},"reference-count":31,"publisher":"Elsevier BV","license":[{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/tdm\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.elsevier.com\/legal\/tdmrep-license"},{"start":{"date-parts":[[2028,5,12]],"date-time":"2028-05-12T00:00:00Z","timestamp":1841702400000},"content-version":"am","delay-in-days":619,"URL":"http:\/\/www.elsevier.com\/open-access\/userlicense\/1.0\/"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-017"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-012"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2026,9,1]],"date-time":"2026-09-01T00:00:00Z","timestamp":1788220800000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-004"}],"funder":[{"DOI":"10.13039\/501100001691","name":"Japan Society for the Promotion of Science","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100001691","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["elsevier.com","sciencedirect.com"],"crossmark-restriction":true},"short-container-title":["Robotics and Autonomous Systems"],"published-print":{"date-parts":[[2026,9]]},"DOI":"10.1016\/j.robot.2026.105515","type":"journal-article","created":{"date-parts":[[2026,5,12]],"date-time":"2026-05-12T02:25:52Z","timestamp":1778552752000},"page":"105515","update-policy":"https:\/\/doi.org\/10.1016\/elsevier_cm_policy","source":"Crossref","is-referenced-by-count":0,"special_numbering":"C","title":["Modeling and control of a rigid\u2013soft hybrid-link humanoid robot"],"prefix":"10.1016","volume":"203","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9674-085X","authenticated-orcid":false,"given":"Zewen","family":"He","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9122-8187","authenticated-orcid":false,"given":"Taiki","family":"Ishigaki","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9558-3880","authenticated-orcid":false,"given":"Ko","family":"Yamamoto","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"78","reference":[{"issue":"12","key":"10.1016\/j.robot.2026.105515_b1","doi-asserted-by":"crossref","first-page":"1601","DOI":"10.1016\/j.robot.2013.06.009","article-title":"Variable impedance actuators: A review","volume":"61","author":"Vanderborght","year":"2013","journal-title":"Robot. Auton. Syst."},{"issue":"6","key":"10.1016\/j.robot.2026.105515_b2","article-title":"Energy-efficient actuator design principles for robotic leg prostheses and exoskeletons: A review of series elasticity and backdrivability","volume":"18","author":"Laschowski","year":"2023","journal-title":"J. Comput. Nonlinear Dyn."},{"key":"10.1016\/j.robot.2026.105515_b3","series-title":"Introducing unitree H1: Its first general-purpose humanoid robot","author":"Unitree","year":"2024"},{"key":"10.1016\/j.robot.2026.105515_b4","series-title":"Boston dynamics puts atlas to work (with new \u2019hands\u2019)","author":"BostonDynamics","year":"2024"},{"key":"10.1016\/j.robot.2026.105515_b5","first-page":"399","article-title":"Series elastic actuators","volume":"vol. 1","author":"Pratt","year":"1995"},{"key":"10.1016\/j.robot.2026.105515_b6","series-title":"1999 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No. 99TH8399)","first-page":"561","article-title":"Series elastic actuator development for a biomimetic walking robot","author":"Robinson","year":"1999"},{"key":"10.1016\/j.robot.2026.105515_b7","doi-asserted-by":"crossref","unstructured":"A. Werner, B. Henze, F. Loeffl, S. Leyendecker, C. Ott, Optimal and robust walking using intrinsic properties of a series-elastic robot, in: Proc. of IEEE-RAS Intl. Conf. on Humanoid Robotics, 2017, 2017, pp. 143\u2013150.","DOI":"10.1109\/HUMANOIDS.2017.8239549"},{"key":"10.1016\/j.robot.2026.105515_b8","doi-asserted-by":"crossref","unstructured":"R. Niiyama, S. Nishikawa, Y. Kuniyoshi, Athlete robot with applied human muscle activation patterns for bipedal running, in: Proc. of IEEE-RAS Intl. Conf. on Humanoid Robotics, 2010, 2010, pp. 498\u2013503.","DOI":"10.1109\/ICHR.2010.5686316"},{"key":"10.1016\/j.robot.2026.105515_b9","article-title":"Nonlinear problems of elasticity","volume":"vol. 107","author":"Antman","year":"2005"},{"key":"10.1016\/j.robot.2026.105515_b10","doi-asserted-by":"crossref","DOI":"10.1109\/TRO.2012.2232532","article-title":"Spatial continuum models of rods undergoing large deformation and inflation","volume":"29","author":"Tunay","year":"2013","journal-title":"IEEE Trans. Robot."},{"issue":"6","key":"10.1016\/j.robot.2026.105515_b11","doi-asserted-by":"crossref","first-page":"1518","DOI":"10.1109\/TRO.2018.2868815","article-title":"Discrete Cosserat approach for multisection soft manipulator dynamics","volume":"34","author":"Renda","year":"2018","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105515_b12","doi-asserted-by":"crossref","unstructured":"F. Renda, L. Seneviratne, A geometric and unified approach for modeling soft-rigid multi-body systems with lumped and distributed degrees of freedom, in: Proc. of IEEE Intl. Conf. on Robotics and Automation, ICRA, 2018, 2018, pp. 1567\u20131574.","DOI":"10.1109\/ICRA.2018.8461186"},{"key":"10.1016\/j.robot.2026.105515_b13","doi-asserted-by":"crossref","unstructured":"T. Ishigaki, K. Yamamoto, Dynamics Computation of a Hybrid Multi-link Humanoid Robot Integrating Rigid and Soft Bodies, in: Proc. of IEEE-RAS Intl. Conf. on Intelligent Robots and Systems, IROS, 2021, pp. 2793\u20132798.","DOI":"10.1109\/IROS51168.2021.9636733"},{"key":"10.1016\/j.robot.2026.105515_b14","series-title":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","first-page":"837","article-title":"Inverse kinematics of hybrid multi-link system and its application to motion capture for athlete wearing sports prosthesis","author":"Kim","year":"2022"},{"key":"10.1016\/j.robot.2026.105515_b15","doi-asserted-by":"crossref","DOI":"10.1142\/S021984362150002X","article-title":"Whole-body compliant motion by sensor integration of an EHA-driven humanoid hydra","author":"Ko","year":"2021","journal-title":"Int. J. Hum. Robot."},{"key":"10.1016\/j.robot.2026.105515_b16","doi-asserted-by":"crossref","unstructured":"L. Righetti, S. Schaal, Quadratic programming for inverse dynamics with optimal distribution of contact forces, in: Proceedings of IEEE-RAS International Conference on Humanoid Robots, 2012, pp. 538\u2013543.","DOI":"10.1109\/HUMANOIDS.2012.6651572"},{"issue":"1","key":"10.1016\/j.robot.2026.105515_b17","doi-asserted-by":"crossref","first-page":"64","DOI":"10.1109\/TRO.2018.2876782","article-title":"Quadratic programming for multirobot and task-space force control","volume":"35","author":"Bouyarmane","year":"2018","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105515_b18","series-title":"2024 IEEE\/RSJ International Conference on Intelligent Robots and Systems","first-page":"11217","article-title":"Compliance optimization control for rigid-soft hybrid system and its application in humanoid robot motion control","author":"He","year":"2024"},{"issue":"5","key":"10.1016\/j.robot.2026.105515_b19","doi-asserted-by":"crossref","first-page":"984","DOI":"10.1109\/TRO.2011.2148230","article-title":"Solvability-unconcerned inverse kinematics by the Levenberg\u2013Marquardt method","volume":"27","author":"Sugihara","year":"2011","journal-title":"IEEE Trans. Robot."},{"key":"10.1016\/j.robot.2026.105515_b20","doi-asserted-by":"crossref","unstructured":"T. Sugihara, K. Imanishi, T. Yamamoto, S. Caron, 3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation, in: Proc. of IEEE-RAS Intl. Conf. on Robotics and Automation, ICRA, 2021, 2021, pp. 6258\u20136263.","DOI":"10.1109\/ICRA48506.2021.9561503"},{"key":"10.1016\/j.robot.2026.105515_b21","doi-asserted-by":"crossref","first-page":"1338","DOI":"10.1080\/01691864.2020.1778524","article-title":"A survey: dynamics of humanoid robots","volume":"34","author":"Sugihara","year":"2020","journal-title":"Adv. Robot."},{"key":"10.1016\/j.robot.2026.105515_b22","series-title":"1980 19th IEEE Conference on Decision and Control Including the Symposium on Adaptive Processes","first-page":"95","article-title":"Active stiffness control of a manipulator in cartesian coordinates","author":"Salisbury","year":"1980"},{"key":"10.1016\/j.robot.2026.105515_b23","doi-asserted-by":"crossref","unstructured":"K. Yamamoto, Robust Walking by Resolved Viscoelasticity Control Explicitly Considering Structure-Variability of a Humanoid, in: Proc. of IEEE Intl. Conf. on Robotics and Automation, 2017, pp. 3461\u20133468.","DOI":"10.1109\/ICRA.2017.7989395"},{"issue":"1","key":"10.1016\/j.robot.2026.105515_b24","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/JRA.1987.1087068","article-title":"A unified approach for motion and force control: The operational space formulation","volume":"3","author":"Khatib","year":"1987","journal-title":"IEEE Int. J. Robot. Autom."},{"key":"10.1016\/j.robot.2026.105515_b25","series-title":"2009 IEEE International Conference on Robotics and Automation","first-page":"1966","article-title":"Standing stabilizability and stepping maneuver in planar bipedalism based on the best COM-ZMP regulator","author":"Sugihara","year":"2009"},{"key":"10.1016\/j.robot.2026.105515_b26","series-title":"Hydra model","author":"Yamamoto","year":"2026"},{"issue":"4","key":"10.1016\/j.robot.2026.105515_b27","doi-asserted-by":"crossref","first-page":"1260","DOI":"10.1109\/TMECH.2013.2278251","article-title":"Shape tracking of planar hyper-flexible beams via embedded PVDF deflection sensors","volume":"19","author":"Shapiro","year":"2013","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"issue":"4","key":"10.1016\/j.robot.2026.105515_b28","doi-asserted-by":"crossref","first-page":"1115","DOI":"10.1109\/TMECH.2013.2269836","article-title":"Three-dimensional needle shape reconstruction using an array of fiber bragg grating sensors","volume":"19","author":"Roesthuis","year":"2013","journal-title":"IEEE\/ASME Trans. Mechatronics"},{"key":"10.1016\/j.robot.2026.105515_b29","unstructured":"OptiTrack, MOTIVE. URL: https:\/\/www.optitrack.com\/software\/motive."},{"issue":"21","key":"10.1016\/j.robot.2026.105515_b30","doi-asserted-by":"crossref","first-page":"1515","DOI":"10.1080\/01691864.2024.2407118","article-title":"Viscoelasticity estimation of sports prosthesis by energy-minimizing inverse kinematics and its validation by forward dynamics","volume":"38","author":"Shimane","year":"2024","journal-title":"Adv. Robot."},{"key":"10.1016\/j.robot.2026.105515_b31","article-title":"Humanoid motion control by compliance optimization explicitly considering its positive definiteness","author":"Yamamoto","year":"2021","journal-title":"IEEE Trans. Robot."}],"container-title":["Robotics and Autonomous Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001880?httpAccept=text\/xml","content-type":"text\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/api.elsevier.com\/content\/article\/PII:S0921889026001880?httpAccept=text\/plain","content-type":"text\/plain","content-version":"vor","intended-application":"text-mining"}],"deposited":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T14:58:34Z","timestamp":1781103514000},"score":1,"resource":{"primary":{"URL":"https:\/\/linkinghub.elsevier.com\/retrieve\/pii\/S0921889026001880"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,9]]},"references-count":31,"alternative-id":["S0921889026001880"],"URL":"https:\/\/doi.org\/10.1016\/j.robot.2026.105515","relation":{},"ISSN":["0921-8890"],"issn-type":[{"value":"0921-8890","type":"print"}],"subject":[],"published":{"date-parts":[[2026,9]]},"assertion":[{"value":"Elsevier","name":"publisher","label":"This article is maintained by"},{"value":"Modeling and control of a rigid\u2013soft hybrid-link humanoid robot","name":"articletitle","label":"Article Title"},{"value":"Robotics and Autonomous Systems","name":"journaltitle","label":"Journal Title"},{"value":"https:\/\/doi.org\/10.1016\/j.robot.2026.105515","name":"articlelink","label":"CrossRef DOI link to publisher maintained version"},{"value":"article","name":"content_type","label":"Content Type"},{"value":"\u00a9 2026 Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.","name":"copyright","label":"Copyright"}],"article-number":"105515"}}