Title:Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid RobotAuthor(s):Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Müller, Frank KirchnerBooktitle:Advances in Robot Kinematics (ARK), 1-5 July 2018, Bologna, ItalyPage Reference:9 page(s)Publishing:2018