{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,23]],"date-time":"2025-12-23T10:35:32Z","timestamp":1766486132906},"reference-count":50,"publisher":"Cambridge University Press (CUP)","issue":"11","license":[{"start":{"date-parts":[[2016,11,22]],"date-time":"2016-11-22T00:00:00Z","timestamp":1479772800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2017,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Adding active toe joints to a humanoid robot structure has lots of difficulties such as mounting a small motor and an encoder on the robot feet. Conversely, adding passive toe joints is simple, since it only consists of a spring and a damper. Due to lots of benefits of implementing passive toe joints, mentioned in the literature, the goal of this study is to add passive toe joints to the SURENA III humanoid robot which was designed and fabricated at the Center of Advanced Systems and Technologies (CAST), University of Tehran. To this end, a simple passive toe joint is designed and fabricated, at first. Then, stiffness and damping coefficients are calculated using a vision-based measurement. Afterwards, a gait planning routine for humanoid robots equipped with passive toe joints is implemented. The tip-over stability of the gait is studied, considering the vibration of the passive toe joints in swing phases. The multi-body dynamics of the robot equipped with passive toe joints are presented using the Lagrange approach. Furthermore, system identification routine is adopted to model the dynamic behaviors of the power transmission system. By adding the calculated actuating torques for these two models, the whole dynamic model of the robot is computed. Finally, the performance of the proposed approach is evaluated by several simulations and experimental results. Results show that using passive toe joints reduces energy consumption of ankle and knee joints by 15.3% and 9.0%, respectively. Moreover, with relatively large values of stiffness coefficients, the required torque and power of the knee and hip joints during heel-off motion reduces as the ankle joint torque and power increases.<\/jats:p>","DOI":"10.1017\/s026357471600059x","type":"journal-article","created":{"date-parts":[[2016,11,22]],"date-time":"2016-11-22T11:41:51Z","timestamp":1479814911000},"page":"2099-2121","source":"Crossref","is-referenced-by-count":8,"title":["Adding low-cost passive toe joints to the feet structure of SURENA III humanoid robot"],"prefix":"10.1017","volume":"35","author":[{"given":"Majid","family":"Sadedel","sequence":"first","affiliation":[]},{"given":"Aghil","family":"Yousefi-Koma","sequence":"additional","affiliation":[]},{"given":"Majid","family":"Khadiv","sequence":"additional","affiliation":[]},{"given":"Mohhamad","family":"Mahdavian","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2016,11,22]]},"reference":[{"key":"S026357471600059X_ref18","first-page":"410","volume-title":"7th IEEE-RAS International Conference on Humanoid Robots","author":"Yamamoto","year":"2007"},{"key":"S026357471600059X_ref14","doi-asserted-by":"crossref","first-page":"4909","DOI":"10.1109\/IROS.2006.282449","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Sellaouti","year":"2006"},{"key":"S026357471600059X_ref41","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2012.02.007"},{"key":"S026357471600059X_ref8","doi-asserted-by":"publisher","DOI":"10.1142\/S021984361250003X"},{"key":"S026357471600059X_ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574703005393"},{"key":"S026357471600059X_ref46","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2005.851381"},{"key":"S026357471600059X_ref38","first-page":"131","volume-title":"2nd RSI\/ISM International Conference on Robotics and Mechatronics (ICRoM)","author":"Sadedel","year":"2014"},{"key":"S026357471600059X_ref49","doi-asserted-by":"publisher","DOI":"10.1016\/j.hm.2010.06.003"},{"key":"S026357471600059X_ref24","first-page":"2181","volume-title":"IEEE International Conference on Robotics and Automation","author":"Hirukawa","year":"2007"},{"key":"S026357471600059X_ref20","first-page":"117","volume-title":"IEEE-RAS\/RSJ International Conference on Humanoid Robots","author":"Narioka","year":"2012"},{"key":"S026357471600059X_ref32","doi-asserted-by":"crossref","first-page":"241","DOI":"10.1017\/S0263574700003039","article-title":"Sagittal gait of a biped robot during the single support phase. part 2: Optimal motion","volume":"19","author":"Rostami","year":"2001","journal-title":"Robotica"},{"key":"S026357471600059X_ref26","first-page":"1","article-title":"Neural Network Control of a Robotic Manipulator with Input Deadzone and Output Constraint","volume":"99","author":"He","year":"2015","journal-title":"IEEE Trans. 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