Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2019

AUTHORS

Takuya Otani , Kenji Hashimoto , Akira Natsuhara , Masanori Sakaguchi , Yasuo Kawakami , Hun-ok Lim , Atsuo Takanishi

ABSTRACT

While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment. More... »

PAGES

86-93

References to SciGraph publications

  • 1998-02. The spring-mass model and the energy cost of treadmill running in EUROPEAN JOURNAL OF APPLIED PHYSIOLOGY
  • 1998-09. Pronation in Runners in SPORTS MEDICINE
  • Book

    TITLE

    ROMANSY 22 – Robot Design, Dynamics and Control

    ISBN

    978-3-319-78962-0
    978-3-319-78963-7

    Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_12

    DOI

    http://dx.doi.org/10.1007/978-3-319-78963-7_12

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1104117276


    Indexing Status Check whether this publication has been indexed by Scopus and Web Of Science using the SN Indexing Status Tool
    Incoming Citations Browse incoming citations for this publication using opencitations.net

    JSON-LD is the canonical representation for SciGraph data.

    TIP: You can open this SciGraph record using an external JSON-LD service: JSON-LD Playground Google SDTT

    [
      {
        "@context": "https://springernature.github.io/scigraph/jsonld/sgcontext.json", 
        "about": [
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/1106", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Human Movement and Sports Science", 
            "type": "DefinedTerm"
          }, 
          {
            "id": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/11", 
            "inDefinedTermSet": "http://purl.org/au-research/vocabulary/anzsrc-for/2008/", 
            "name": "Medical and Health Sciences", 
            "type": "DefinedTerm"
          }
        ], 
        "author": [
          {
            "affiliation": {
              "alternateName": "Waseda University", 
              "id": "https://www.grid.ac/institutes/grid.5290.e", 
              "name": [
                "Waseda University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Otani", 
            "givenName": "Takuya", 
            "id": "sg:person.016557644216.55", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016557644216.55"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Waseda University", 
              "id": "https://www.grid.ac/institutes/grid.5290.e", 
              "name": [
                "Waseda Institute for Advanced Study", 
                "Waseda University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Hashimoto", 
            "givenName": "Kenji", 
            "id": "sg:person.014752351213.47", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014752351213.47"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Waseda University", 
              "id": "https://www.grid.ac/institutes/grid.5290.e", 
              "name": [
                "Waseda University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Natsuhara", 
            "givenName": "Akira", 
            "id": "sg:person.012044127410.19", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012044127410.19"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "name": [
                "ASICS Corporation, Institute of Sport Science"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Sakaguchi", 
            "givenName": "Masanori", 
            "id": "sg:person.013514422747.29", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013514422747.29"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Waseda University", 
              "id": "https://www.grid.ac/institutes/grid.5290.e", 
              "name": [
                "Waseda University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Kawakami", 
            "givenName": "Yasuo", 
            "id": "sg:person.01140165251.54", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01140165251.54"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Kanagawa University", 
              "id": "https://www.grid.ac/institutes/grid.411995.1", 
              "name": [
                "Waseda Institute for Advanced Study", 
                "Kanagawa University"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Lim", 
            "givenName": "Hun-ok", 
            "id": "sg:person.016243320241.03", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016243320241.03"
            ], 
            "type": "Person"
          }, 
          {
            "affiliation": {
              "alternateName": "Waseda University", 
              "id": "https://www.grid.ac/institutes/grid.5290.e", 
              "name": [
                "Waseda University", 
                "Waseda Institute for Advanced Study"
              ], 
              "type": "Organization"
            }, 
            "familyName": "Takanishi", 
            "givenName": "Atsuo", 
            "id": "sg:person.01063256350.86", 
            "sameAs": [
              "https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01063256350.86"
            ], 
            "type": "Person"
          }
        ], 
        "citation": [
          {
            "id": "https://doi.org/10.3390/machines4010005", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1013019999"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.2165/00007256-199826030-00003", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1019595920", 
              "https://doi.org/10.2165/00007256-199826030-00003"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0021-9290(02)00183-5", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1030224962"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0021-9290(02)00183-5", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1030224962"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "sg:pub.10.1007/s004210050330", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1030791795", 
              "https://doi.org/10.1007/s004210050330"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/0021-9290(89)90224-8", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1031018963"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.3389/frobt.2015.00017", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1034842909"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0268-0033(03)00025-1", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1046596351"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1016/s0268-0033(03)00025-1", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1046596351"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/acc.2009.5160550", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1093933291"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/ichr.2009.5379574", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1094207238"
            ], 
            "type": "CreativeWork"
          }, 
          {
            "id": "https://doi.org/10.1109/robot.2009.5152496", 
            "sameAs": [
              "https://app.dimensions.ai/details/publication/pub.1094732490"
            ], 
            "type": "CreativeWork"
          }
        ], 
        "datePublished": "2019", 
        "datePublishedReg": "2019-01-01", 
        "description": "While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human\u2019s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.", 
        "editor": [
          {
            "familyName": "Arakelian", 
            "givenName": "Vigen", 
            "type": "Person"
          }, 
          {
            "familyName": "Wenger", 
            "givenName": "Philippe", 
            "type": "Person"
          }
        ], 
        "genre": "chapter", 
        "id": "sg:pub.10.1007/978-3-319-78963-7_12", 
        "inLanguage": [
          "en"
        ], 
        "isAccessibleForFree": false, 
        "isPartOf": {
          "isbn": [
            "978-3-319-78962-0", 
            "978-3-319-78963-7"
          ], 
          "name": "ROMANSY 22 \u2013 Robot Design, Dynamics and Control", 
          "type": "Book"
        }, 
        "name": "Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human", 
        "pagination": "86-93", 
        "productId": [
          {
            "name": "doi", 
            "type": "PropertyValue", 
            "value": [
              "10.1007/978-3-319-78963-7_12"
            ]
          }, 
          {
            "name": "readcube_id", 
            "type": "PropertyValue", 
            "value": [
              "c30e849442fcf7fc5a13229ea2a0697c042cc8186a587dbf86d8f7067b851cba"
            ]
          }, 
          {
            "name": "dimensions_id", 
            "type": "PropertyValue", 
            "value": [
              "pub.1104117276"
            ]
          }
        ], 
        "publisher": {
          "location": "Cham", 
          "name": "Springer International Publishing", 
          "type": "Organisation"
        }, 
        "sameAs": [
          "https://doi.org/10.1007/978-3-319-78963-7_12", 
          "https://app.dimensions.ai/details/publication/pub.1104117276"
        ], 
        "sdDataset": "chapters", 
        "sdDatePublished": "2019-04-15T23:10", 
        "sdLicense": "https://scigraph.springernature.com/explorer/license/", 
        "sdPublisher": {
          "name": "Springer Nature - SN SciGraph project", 
          "type": "Organization"
        }, 
        "sdSource": "s3://com-uberresearch-data-dimensions-target-20181106-alternative/cleanup/v134/2549eaecd7973599484d7c17b260dba0a4ecb94b/merge/v9/a6c9fde33151104705d4d7ff012ea9563521a3ce/jats-lookup/v90/0000000001_0000000264/records_8695_00000393.jsonl", 
        "type": "Chapter", 
        "url": "http://link.springer.com/10.1007/978-3-319-78963-7_12"
      }
    ]
     

    Download the RDF metadata as:  json-ld nt turtle xml License info

    HOW TO GET THIS DATA PROGRAMMATICALLY:

    JSON-LD is a popular format for linked data which is fully compatible with JSON.

    curl -H 'Accept: application/ld+json' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_12'

    N-Triples is a line-based linked data format ideal for batch operations.

    curl -H 'Accept: application/n-triples' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_12'

    Turtle is a human-readable linked data format.

    curl -H 'Accept: text/turtle' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_12'

    RDF/XML is a standard XML format for linked data.

    curl -H 'Accept: application/rdf+xml' 'https://scigraph.springernature.com/pub.10.1007/978-3-319-78963-7_12'


     

    This table displays all metadata directly associated to this object as RDF triples.

    151 TRIPLES      23 PREDICATES      37 URIs      20 LITERALS      8 BLANK NODES

    Subject Predicate Object
    1 sg:pub.10.1007/978-3-319-78963-7_12 schema:about anzsrc-for:11
    2 anzsrc-for:1106
    3 schema:author N9b512b3083bf40ca98c1763f67564e0a
    4 schema:citation sg:pub.10.1007/s004210050330
    5 sg:pub.10.2165/00007256-199826030-00003
    6 https://doi.org/10.1016/0021-9290(89)90224-8
    7 https://doi.org/10.1016/s0021-9290(02)00183-5
    8 https://doi.org/10.1016/s0268-0033(03)00025-1
    9 https://doi.org/10.1109/acc.2009.5160550
    10 https://doi.org/10.1109/ichr.2009.5379574
    11 https://doi.org/10.1109/robot.2009.5152496
    12 https://doi.org/10.3389/frobt.2015.00017
    13 https://doi.org/10.3390/machines4010005
    14 schema:datePublished 2019
    15 schema:datePublishedReg 2019-01-01
    16 schema:description While running, humans use the stiffness of the knee and ankle joint of the leg. Mimicking this motion can improve the output power and performance of humanoid robots. It also offers the possibility of clarifying running in humans, from an engineering perspective, by mimicking other characteristics of an ankle joint. In this paper, we design an ankle and foot mechanism that mimics human’s characteristics, such as joint stiffness in the direction of pitch, and following the floor surface in the direction of roll upon landing for stabilization. To mimic these characteristics, our ankle joint mechanism consisted of CFRP (Carbon Fiber Reinforced Plastic)-laminated leaf springs implemented on the foot of the robot for a deflection in direction of pitch and a twist in the direction of the roll. We ensured that the ankle joint can follow the ground in the direction of roll at landing in a hopping experiment.
    17 schema:editor Nb37710b2340c4599a7e104891635d08b
    18 schema:genre chapter
    19 schema:inLanguage en
    20 schema:isAccessibleForFree false
    21 schema:isPartOf Nc08db593bb344e6cb53f1fbbc8b78a82
    22 schema:name Ankle and Foot Mechanism Mimicking Joint Stiffness and Following Motion Based on Human
    23 schema:pagination 86-93
    24 schema:productId N2f2fb970df4140da8564b36c1dc743c7
    25 Nbba610dc530e4ca1aeb8401663dbecb3
    26 Nc259dde23d4a48d591a08394130a5efe
    27 schema:publisher N71aae62838144747b02251a87528ecdc
    28 schema:sameAs https://app.dimensions.ai/details/publication/pub.1104117276
    29 https://doi.org/10.1007/978-3-319-78963-7_12
    30 schema:sdDatePublished 2019-04-15T23:10
    31 schema:sdLicense https://scigraph.springernature.com/explorer/license/
    32 schema:sdPublisher Nf4f68e6b06484b2dbfefe046cce59277
    33 schema:url http://link.springer.com/10.1007/978-3-319-78963-7_12
    34 sgo:license sg:explorer/license/
    35 sgo:sdDataset chapters
    36 rdf:type schema:Chapter
    37 N2f2fb970df4140da8564b36c1dc743c7 schema:name doi
    38 schema:value 10.1007/978-3-319-78963-7_12
    39 rdf:type schema:PropertyValue
    40 N409e7f2b7f6b4eb2a109364f1b17ed68 rdf:first N4e3308fbead34f1b84c11cb8d01a3e67
    41 rdf:rest rdf:nil
    42 N448242d5f6574e739f78025a81fd8c63 rdf:first sg:person.014752351213.47
    43 rdf:rest Ncf445e7cf909426d9754e1825c6d1f54
    44 N4e3308fbead34f1b84c11cb8d01a3e67 schema:familyName Wenger
    45 schema:givenName Philippe
    46 rdf:type schema:Person
    47 N55b8fc9dd44b4476ad65331466a42454 rdf:first sg:person.01063256350.86
    48 rdf:rest rdf:nil
    49 N71aae62838144747b02251a87528ecdc schema:location Cham
    50 schema:name Springer International Publishing
    51 rdf:type schema:Organisation
    52 N98e7a6466b2744f0977df4ac9b95e7b7 rdf:first sg:person.01140165251.54
    53 rdf:rest Nbdbe250a10b44ba8baf5ccdc52337b18
    54 N9b512b3083bf40ca98c1763f67564e0a rdf:first sg:person.016557644216.55
    55 rdf:rest N448242d5f6574e739f78025a81fd8c63
    56 Nb37710b2340c4599a7e104891635d08b rdf:first Nfd3f77e9c38a4446b1ae66604aa8ace1
    57 rdf:rest N409e7f2b7f6b4eb2a109364f1b17ed68
    58 Nbba610dc530e4ca1aeb8401663dbecb3 schema:name dimensions_id
    59 schema:value pub.1104117276
    60 rdf:type schema:PropertyValue
    61 Nbdbe250a10b44ba8baf5ccdc52337b18 rdf:first sg:person.016243320241.03
    62 rdf:rest N55b8fc9dd44b4476ad65331466a42454
    63 Nc08db593bb344e6cb53f1fbbc8b78a82 schema:isbn 978-3-319-78962-0
    64 978-3-319-78963-7
    65 schema:name ROMANSY 22 – Robot Design, Dynamics and Control
    66 rdf:type schema:Book
    67 Nc259dde23d4a48d591a08394130a5efe schema:name readcube_id
    68 schema:value c30e849442fcf7fc5a13229ea2a0697c042cc8186a587dbf86d8f7067b851cba
    69 rdf:type schema:PropertyValue
    70 Ncf445e7cf909426d9754e1825c6d1f54 rdf:first sg:person.012044127410.19
    71 rdf:rest Ne7a1faee4257477ba4b60a17f8009e4c
    72 Ne7a1faee4257477ba4b60a17f8009e4c rdf:first sg:person.013514422747.29
    73 rdf:rest N98e7a6466b2744f0977df4ac9b95e7b7
    74 Ne94cb4f9aa5941c7909cc926d4652169 schema:name ASICS Corporation, Institute of Sport Science
    75 rdf:type schema:Organization
    76 Nf4f68e6b06484b2dbfefe046cce59277 schema:name Springer Nature - SN SciGraph project
    77 rdf:type schema:Organization
    78 Nfd3f77e9c38a4446b1ae66604aa8ace1 schema:familyName Arakelian
    79 schema:givenName Vigen
    80 rdf:type schema:Person
    81 anzsrc-for:11 schema:inDefinedTermSet anzsrc-for:
    82 schema:name Medical and Health Sciences
    83 rdf:type schema:DefinedTerm
    84 anzsrc-for:1106 schema:inDefinedTermSet anzsrc-for:
    85 schema:name Human Movement and Sports Science
    86 rdf:type schema:DefinedTerm
    87 sg:person.01063256350.86 schema:affiliation https://www.grid.ac/institutes/grid.5290.e
    88 schema:familyName Takanishi
    89 schema:givenName Atsuo
    90 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01063256350.86
    91 rdf:type schema:Person
    92 sg:person.01140165251.54 schema:affiliation https://www.grid.ac/institutes/grid.5290.e
    93 schema:familyName Kawakami
    94 schema:givenName Yasuo
    95 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.01140165251.54
    96 rdf:type schema:Person
    97 sg:person.012044127410.19 schema:affiliation https://www.grid.ac/institutes/grid.5290.e
    98 schema:familyName Natsuhara
    99 schema:givenName Akira
    100 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.012044127410.19
    101 rdf:type schema:Person
    102 sg:person.013514422747.29 schema:affiliation Ne94cb4f9aa5941c7909cc926d4652169
    103 schema:familyName Sakaguchi
    104 schema:givenName Masanori
    105 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.013514422747.29
    106 rdf:type schema:Person
    107 sg:person.014752351213.47 schema:affiliation https://www.grid.ac/institutes/grid.5290.e
    108 schema:familyName Hashimoto
    109 schema:givenName Kenji
    110 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.014752351213.47
    111 rdf:type schema:Person
    112 sg:person.016243320241.03 schema:affiliation https://www.grid.ac/institutes/grid.411995.1
    113 schema:familyName Lim
    114 schema:givenName Hun-ok
    115 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016243320241.03
    116 rdf:type schema:Person
    117 sg:person.016557644216.55 schema:affiliation https://www.grid.ac/institutes/grid.5290.e
    118 schema:familyName Otani
    119 schema:givenName Takuya
    120 schema:sameAs https://app.dimensions.ai/discover/publication?and_facet_researcher=ur.016557644216.55
    121 rdf:type schema:Person
    122 sg:pub.10.1007/s004210050330 schema:sameAs https://app.dimensions.ai/details/publication/pub.1030791795
    123 https://doi.org/10.1007/s004210050330
    124 rdf:type schema:CreativeWork
    125 sg:pub.10.2165/00007256-199826030-00003 schema:sameAs https://app.dimensions.ai/details/publication/pub.1019595920
    126 https://doi.org/10.2165/00007256-199826030-00003
    127 rdf:type schema:CreativeWork
    128 https://doi.org/10.1016/0021-9290(89)90224-8 schema:sameAs https://app.dimensions.ai/details/publication/pub.1031018963
    129 rdf:type schema:CreativeWork
    130 https://doi.org/10.1016/s0021-9290(02)00183-5 schema:sameAs https://app.dimensions.ai/details/publication/pub.1030224962
    131 rdf:type schema:CreativeWork
    132 https://doi.org/10.1016/s0268-0033(03)00025-1 schema:sameAs https://app.dimensions.ai/details/publication/pub.1046596351
    133 rdf:type schema:CreativeWork
    134 https://doi.org/10.1109/acc.2009.5160550 schema:sameAs https://app.dimensions.ai/details/publication/pub.1093933291
    135 rdf:type schema:CreativeWork
    136 https://doi.org/10.1109/ichr.2009.5379574 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094207238
    137 rdf:type schema:CreativeWork
    138 https://doi.org/10.1109/robot.2009.5152496 schema:sameAs https://app.dimensions.ai/details/publication/pub.1094732490
    139 rdf:type schema:CreativeWork
    140 https://doi.org/10.3389/frobt.2015.00017 schema:sameAs https://app.dimensions.ai/details/publication/pub.1034842909
    141 rdf:type schema:CreativeWork
    142 https://doi.org/10.3390/machines4010005 schema:sameAs https://app.dimensions.ai/details/publication/pub.1013019999
    143 rdf:type schema:CreativeWork
    144 https://www.grid.ac/institutes/grid.411995.1 schema:alternateName Kanagawa University
    145 schema:name Kanagawa University
    146 Waseda Institute for Advanced Study
    147 rdf:type schema:Organization
    148 https://www.grid.ac/institutes/grid.5290.e schema:alternateName Waseda University
    149 schema:name Waseda Institute for Advanced Study
    150 Waseda University
    151 rdf:type schema:Organization
     




    Preview window. Press ESC to close (or click here)


    ...