@article{oai:oist.repo.nii.ac.jp:00001057,
 author = {Tatsch, Christopher and Ahmadi, Ahmadreza and Bottega, Fabrício and Tani, Jun and da Silva Guerra, Rodrigo},
 issue = {2},
 journal = {Journal of Intelligent & Robotic Systems},
 month = {Oct},
 note = {We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot's qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration.},
 pages = {291--300},
 title = {Dimitri: an Open-Source Humanoid Robot with Compliant Joint},
 volume = {91},
 year = {2017}
}