{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,30]],"date-time":"2026-01-30T06:14:52Z","timestamp":1769753692735,"version":"3.49.0"},"reference-count":23,"publisher":"Maximum Academic Press","license":[{"start":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T00:00:00Z","timestamp":1685577600000},"content-version":"unspecified","delay-in-days":151,"URL":"http:\/\/creativecommons.org\/licenses\/by-sa\/4.0\/"}],"content-domain":{"domain":["cambridge.org"],"crossmark-restriction":true},"short-container-title":["The Knowledge Engineering Review"],"published-print":{"date-parts":[[2023]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>This paper presents the technical specifications of a lightweight humanoid robot platform named Robinion Sr. including its mechanical and electrical design. We describe a versatile and robust mechatronic system, efficient walking gait, and software architecture of the humanoid robot. The humanoid robot platform is targeted for use in a range of applications, including research and development, competitions, and the service industry. A reduced platform cost was an essential consideration in our design. We introduce a specialized and inexpensive mechanical design, which includes a parallel-kinematics leg design, external gears, and low-cost controllers and sensors. The humanoid robot is equipped with an efficient electronic structure and a tablet computer for task scheduling, control, and perception, as well as an embedded controller for solving forward &amp; inverse kinematics and low-level actuator control. The perception system recognizes objects at real-time inference with Deep Learning-based detection algorithms without a dedicated GPU. We present and evaluate the capabilities of our newly developed advanced humanoid robot and believe it is a suitable platform for the academic and industrial robotics community.<\/jats:p>","DOI":"10.1017\/s026988892300005x","type":"journal-article","created":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T04:22:37Z","timestamp":1685593357000},"update-policy":"https:\/\/doi.org\/10.1017\/policypage","source":"Crossref","is-referenced-by-count":5,"title":["Lightweight mechatronic system for humanoid robot"],"prefix":"10.48130","volume":"38","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2601-9132","authenticated-orcid":false,"given":"Jaesik","family":"Jeong","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2645-1163","authenticated-orcid":false,"given":"Jeehyun","family":"Yang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9140-1894","authenticated-orcid":false,"given":"Guilherme Henrique Galelli","family":"Christmann","sequence":"additional","affiliation":[]},{"given":"Jacky","family":"Baltes","sequence":"additional","affiliation":[]}],"member":"27968","published-online":{"date-parts":[[2023,6,1]]},"reference":[{"key":"S026988892300005X_ref16","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1002\/rob.21560","article-title":"Valkyrie: Nasa\u2019s first bipedal humanoid robot","volume":"32","author":"Radford","year":"2015","journal-title":"Journal of Field Robotics"},{"key":"S026988892300005X_ref19","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2021.107601"},{"key":"S026988892300005X_ref13","article-title":"First human-robot archery competition: a new humanoid robot challenge","year":"2020","journal-title":"The Knowledge Engineering Review"},{"key":"S026988892300005X_ref2","doi-asserted-by":"crossref","unstructured":"Asano, Y. , Kozuki, T. , Ookubo, S. , Kawamura, M. , Nakashima, S. , Katayama, T. , Yanokura, I. , Hirose, T. , Kawaharazuka, K. , Makino, S. , Kakiuchi, Y. , Okada, K. & Inaba, M. 2016. Human mimetic musculoskeletal humanoid Kengoro toward real world physically interactive actions. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 876\u2013883. 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In Proceedings of the 25th International Sysposium on Electronic Art \u2013 ISEA 2019 \u2018Lux Aeterna\u2019, 73\u201378."},{"key":"S026988892300005X_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-18615-3_53"},{"key":"S026988892300005X_ref17","unstructured":"Redmon, J. & Farhadi, A. 2018. Yolov3: an incremental improvement. arXiv preprint arXiv:1804.02767."},{"key":"S026988892300005X_ref23","unstructured":"Zou, Z. , Chen, K. , Shi, Z. , Guo, Y. & Ye, J. 2019. Object detection in 20 years: a survey. arXiv preprint arXiv:1905.05055."},{"key":"S026988892300005X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2646090"},{"key":"S026988892300005X_ref1","doi-asserted-by":"crossref","first-page":"77308","DOI":"10.1109\/ACCESS.2020.2989052","article-title":"Visual trunk detection using transfer learning and a deep learning-based coprocessor","volume":"8","author":"Aguiar","year":"2020","journal-title":"IEEE Access"},{"key":"S026988892300005X_ref5","article-title":"HuroCup: competition for multi-event humanoid robot athletes","author":"Baltes","year":"2017","journal-title":"The Knowledge Engineering Review"},{"key":"S026988892300005X_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2019.2945738"},{"key":"S026988892300005X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2015.2448811"},{"key":"S026988892300005X_ref9","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1109\/TRO.2017.2776287","article-title":"Development of the humanoid disaster response platform DRCHUBO+","volume":"34","author":"Jung","year":"2018","journal-title":"IEEE Transactions on Robotics"}],"container-title":["The Knowledge Engineering Review"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026988892300005X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T14:42:23Z","timestamp":1767624143000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026988892300005X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023]]},"references-count":23,"alternative-id":["S026988892300005X"],"URL":"https:\/\/doi.org\/10.1017\/s026988892300005x","relation":{},"ISSN":["0269-8889","1469-8005"],"issn-type":[{"value":"0269-8889","type":"print"},{"value":"1469-8005","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023]]},"assertion":[{"value":"\u00a9 The Author(s), 2023. Published by Cambridge University Press","name":"copyright","label":"Copyright","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This is an Open Access article, distributed under the terms of the Creative Commons Attribution-ShareAlike licence (http:\/\/creativecommons.org\/licenses\/by-sa\/4.0\/), which permits re-use, distribution, and reproduction in any medium, provided the same Creative Commons licence is used to distribute the re-used or adapted article and the original article is properly cited.","name":"license","label":"License","group":{"name":"copyright_and_licensing","label":"Copyright and Licensing"}},{"value":"This content has been made available to all.","name":"free","label":"Free to read"}],"article-number":"e5"}}