{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,5,21]],"date-time":"2024-05-21T12:24:48Z","timestamp":1716294288050},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2004,1,5]],"date-time":"2004-01-05T00:00:00Z","timestamp":1073260800000},"content-version":"unspecified","delay-in-days":4,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2004,1]]},"abstract":"<jats:p>In this paper the mechanical design for a new 7-dofs leg is investigated \nas a walking module for a humanoid robot. In particular, a dynamic simulation is deduced by means of a Newton-Euler formulation and implemented numerically in order to compute the needed input actuator torques. A simulation is carried out for a similar built leg prototype that is used as a walking module for WABIAN-RIV (WAseda BIped humANoid robot-Revised IV). Experimental tests are carried out on this existing leg in order to validate the proposed formulation for a similar application. Thus, the validated formulation has been used in order to design the actuators for a new leg prototype.<\/jats:p>","DOI":"10.1017\/s0263574703005393","type":"journal-article","created":{"date-parts":[[2004,1,6]],"date-time":"2004-01-06T05:26:55Z","timestamp":1073366815000},"page":"41-50","source":"Crossref","is-referenced-by-count":5,"title":["Dynamic simulation and experiments for the design of a new \n7-dofs biped walking leg module"],"prefix":"10.1017","volume":"22","author":[{"given":"Giuseppe","family":"Carbone","sequence":"first","affiliation":[]},{"given":"Yu","family":"Ogura","sequence":"additional","affiliation":[]},{"given":"Hun-ok","family":"Lim","sequence":"additional","affiliation":[]},{"given":"Atsuo","family":"Takanishi","sequence":"additional","affiliation":[]},{"given":"Marco","family":"Ceccarelli","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2004,1,5]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574703005393","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,6]],"date-time":"2019-05-06T17:49:41Z","timestamp":1557164981000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574703005393\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2004,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2004,1]]}},"alternative-id":["S0263574703005393"],"URL":"https:\/\/doi.org\/10.1017\/s0263574703005393","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2004,1]]}}}