{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,9]],"date-time":"2025-12-09T08:29:16Z","timestamp":1765268956344,"version":"build-2065373602"},"reference-count":37,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,12,12]],"date-time":"2023-12-12T00:00:00Z","timestamp":1702339200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,12,12]],"date-time":"2023-12-12T00:00:00Z","timestamp":1702339200000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,12,12]]},"DOI":"10.1109\/humanoids57100.2023.10375161","type":"proceedings-article","created":{"date-parts":[[2024,1,1]],"date-time":"2024-01-01T19:32:51Z","timestamp":1704137571000},"page":"1-7","source":"Crossref","is-referenced-by-count":4,"title":["Towards design and development of new joint modules for humanoid ergoCub 2.0*"],"prefix":"10.1109","author":[{"given":"Divya","family":"Shah","sequence":"first","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Marcello","family":"Savoldi","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Alessandro","family":"Scalzo","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Andrea","family":"Mura","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Jacopo","family":"Losi","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Valentina","family":"Gaggero","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Luca","family":"Fiorio","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]},{"given":"Marco","family":"Maggiali","sequence":"additional","affiliation":[{"name":"Italian Institute of Technology,iCubTech Facility,Genoa,Italy,16163"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1007\/978-94-007-6046-2_64","volume-title":"Humanoid Robotics: A Reference","author":"Siciliano","year":"2019"},{"issue":"4","key":"ref2","first-page":"465","article-title":"Humanoid robots from the past to the present","volume-title":"Industrial Robot: the international journal of robotics research and application","volume":"47","author":"Bogue","year":"2020"},{"key":"ref3","first-page":"76","article-title":"Development of a new humanoid robot wabian-2","volume-title":"IEEE International Conference on Robotics and Automation, ICRA.IEEE","author":"Ogura","year":"2006"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1142\/s0219843612500272"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041473"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21560"},{"key":"ref7","doi-asserted-by":"crossref","first-page":"689","DOI":"10.1109\/HUMANOIDS.2017.8246947","article-title":"Talos: A new humanoid research platform targeted for industrial applications","volume-title":"IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).IEEE","author":"Stasse","year":"2017"},{"issue":"2","key":"ref8","first-page":"1431","article-title":"Humanoid robot hrp-5p: An electrically actuated humanoid robot with high-power and wide-range joints","volume-title":"IEEE Robotics and Automation Letters","volume":"4","author":"Kaneko","year":"2019"},{"key":"ref9","doi-asserted-by":"crossref","first-page":"1321","DOI":"10.1109\/ROBOT.1998.677288","article-title":"The development of honda humanoid robot","volume-title":"Proceedings. 1998 IEEE international conference on robotics and automation (Cat. No. 98CH36146)","volume":"2","author":"Hirai","year":"1998"},{"issue":"12","key":"ref10","first-page":"34","article-title":"By leaps and bounds: An exclusive look at how boston dynamics is redefining robot agility","volume-title":"IEEE Spectrum","volume":"56","author":"Guizzo","year":"2019"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2020.1813624"},{"volume-title":"Project ergocub","year":"2023","key":"ref12"},{"issue":"5","key":"ref13","first-page":"101558","article-title":"Musculoskeletal health in the workplace","volume-title":"Best practice & research clinical rheumatology","volume":"34","author":"Crawford","year":"2020"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1163\/156855308x324811"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-009-9171-6"},{"volume-title":"Meet atlas","year":"2023","key":"ref16"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-50115-4_57"},{"key":"ref18","first-page":"103","article-title":"Compact gearboxes for modern robotics: A review","volume-title":"Frontiers in Robotics and AI","volume":"7","author":"Garc\u00eda","year":"2020"},{"issue":"1","key":"ref19","first-page":"11","article-title":"A comparison of robot wrist implementations for the iCub humanoid","volume-title":"Robotics","volume":"8","author":"Shah","year":"2019"},{"key":"ref20","article-title":"Design of wrist and forearm mechanisms for enhanced humanoid dexterity","volume-title":"Universit\u00e0 degli Studi di Genova","author":"Shah","year":"2021"},{"key":"ref21","doi-asserted-by":"crossref","first-page":"6295","DOI":"10.1109\/ICRA.2019.8793865","article-title":"Mini cheetah: A platform for pushing the limits of dynamic quadruped control","volume-title":"2019 international conference on robotics and automation (ICRA)","author":"Katz","year":"2019"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS47582.2021.9555782"},{"key":"ref23","doi-asserted-by":"crossref","first-page":"390","DOI":"10.1109\/HUMANOIDS.2013.7030004","article-title":"Armar-4: A 63 dof torque controlled humanoid robot","volume-title":"13th IEEE-RAS International Conference on Humanoid Robots (Humanoids)","author":"Asfour","year":"2013"},{"key":"ref24","doi-asserted-by":"crossref","first-page":"673","DOI":"10.1109\/ICRA.2013.6630645","article-title":"Compliant humanoid coman: Optimal joint stiffness tuning for modal frequency control","volume-title":"2013 IEEE International Conference on Robotics and Automation","author":"Tsagarakis","year":"2013"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363567"},{"key":"ref26","article-title":"icub3 avatar system","volume-title":"arXiv preprint","author":"Dafarra","year":"2022"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/Humanoids53995.2022.10000222"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641166"},{"article-title":"ILM series frameless servo kits","volume-title":"TQ-Systems GmbH","year":"2021","key":"ref29"},{"volume-title":"2FOC electronic board documentation","year":"2023","key":"ref30"},{"volume-title":"EMS4 electronic board documentation","year":"2023","key":"ref31"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.5772\/5761"},{"issue":"2","key":"ref33","first-page":"322","article-title":"Torque estimation for robotic joint with harmonic drive transmission based on position measurements","volume-title":"IEEE Transactions on Robotics","volume":"31","author":"Zhang","year":"2015"},{"key":"ref34","doi-asserted-by":"publisher","DOI":"10.1142\/s0219843615500449"},{"key":"ref35","doi-asserted-by":"crossref","DOI":"10.20944\/preprints201609.0084.v1","volume-title":"A novel virtual torque sensor for rescue robots with harmonic drives","author":"Xia","year":"2016"},{"issue":"2","key":"ref36","first-page":"835","article-title":"Simplified sensorless torque estimation method for harmonic drive based electro-mechanical actuator","volume-title":"IEEE Robotics and Automation Letters","volume":"6","author":"Ismail","year":"2021"},{"article-title":"Harmonic drive gears catalogue","volume-title":"Harmonic Drive SE","year":"2022","key":"ref37"}],"event":{"name":"2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)","start":{"date-parts":[[2023,12,12]]},"location":"Austin, TX, USA","end":{"date-parts":[[2023,12,14]]}},"container-title":["2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10375141\/10374561\/10375161.pdf?arnumber=10375161","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,1,12]],"date-time":"2024-01-12T22:11:48Z","timestamp":1705097508000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10375161\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,12,12]]},"references-count":37,"URL":"https:\/\/doi.org\/10.1109\/humanoids57100.2023.10375161","relation":{},"subject":[],"published":{"date-parts":[[2023,12,12]]}}}