# Active Ankle - an Almost-Spherical Parallel Mechanism

> Research article (International Symposium on Robotics, 2016) · cited 12× · AI/ML

**Wikidata**: [openalex:W2561784922](https://www.wikidata.org/wiki/openalex:W2561784922)  
**Source**: https://4ort.xyz/entity/active-ankle-an-almost-spherical-parallel-mechanism