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• COMPLEXITY IN HUMAN AND HUMANOID BIOMECHANICS
  We propose the following complexity conjecture: in a combined biomechanical system, where the action of Newtonian laws cannot be neglected, it is the mechanical part that determines the lower limit of complexity of the combined system, commonly defined as the …
  crossref VLADIMIR IVANCEVIC, SANJEEV SHARMA 2009-01-19T05:46:54Z 置信度 0.70
• ARTEMIS: An Open-Source, Full-Sized Humanoid Robot for Dynamic Locomotion
  crossref Taoyuanmin Zhu, Min Sung Ahn, Dennis Hong 2025-10-24T17:15:50Z 置信度 0.70
• A Methodological Approach to Design of Soft Fingertips for Humanoid Robot Hands
  crossref Antonio Sardo, Paolo Tiezzi, Gabriele Vassura 2007-03-02T20:47:05Z 置信度 0.70
• A vision/position/force control approach for performing assembly tasks with a humanoid robot
  crossref P. Dauchez, P. Fraisse, F. Pierrot 2006-01-25T11:24:16Z 置信度 0.70
• Manipulation of documented objects by a walking humanoid robot
  crossref Sebastien Dalibard, Alireza Nakhaei, Florent Lamiraux, Jean-Paul Laumond 2011-01-13T21:34:20Z 置信度 0.70
• Noble Implementation of Motor Driver with All Programmable SoC for Humanoid Robot or Industrial Device
  Currently, as the requirements for simple implementations in the motor control technologies increase, System-on-Chip (SoC) device such as Zynq All Programmable SoC was devised to meet those requirements. Because this CPU and FPGA can be assembled into one SoC …
  crossref LinYun Huang, Young-Pil Lee, Yong-Seon Moon, Young-Chul Bae 2017-11-07T09:23:58Z 置信度 0.70
• On using humanoid robot imagination to perform the Shortened Token Test
  crossref Juan G. Victores, Santiago Morante, Alberto Jardón, Carlos Balaguer 2015-02-18T00:28:49Z 置信度 0.70
• Human-robot interaction
  Η χρήση των ρομπότ κοινωνικής αρωγής (ΡΚΑ) αυξάνεται διαρκώς και ποικίλει σε εφαρμογές. Μια από τις πιο διαδεδομένες χρήσεις είναι στον τομέα της εκπαίδευσης όπου αξιοποιώντας συγκεκριμένα τους χαρακτηριστικά όπως είναι η ικανότητα να εκφέρουν λόγο, και να επι…
  crossref Άννα-Μαρία Βελέντζα 2024-07-23T09:13:27Z 置信度 0.70
• VERSATILE, HIGH-QUALITY MOTIONS AND BEHAVIOR CONTROL OF A HUMANOID SOCCER ROBOT
  Autonomous soccer games represent an extraordinary challenge for autonomous humanoid robots which must act fast and stable while carrying all needed onboard computers, sensors and batteries. In this paper, the development and system integration of hardware and…
  crossref MARTIN FRIEDMANN, JUTTA KIENER, SEBASTIAN PETTERS, DIRK THOMAS 等 2009-01-07T05:43:05Z 置信度 0.70
• NATURAL BEHAVIOR GENERATION FOR HUMANOID ROBOTS
  Human behaviors consist of both voluntary and involuntary motions. Almost all behaviors of task-oriented robots, however, consist solely of voluntary motions. Involuntary motions are important for generating natural motions like those of humans. Thus, we propo…
  crossref TAKAHIRO MIYASHITA, HIROSHI ISHIGURO 2004-12-16T21:53:32Z 置信度 0.70
• Humanoid Robot Balance Control Using the Spherical Inverted Pendulum Mode
  crossref Ahmed Elhasairi, Alexandre Pechev 2015-10-05T12:52:24Z 置信度 0.70
• An analytical method on real-time gait planning for a humanoid robot
  crossref K. Harada, S. Kajita, K. Kaneko, H. Hirukawa 2005-07-27T21:00:20Z 置信度 0.70
• Teleportation of human body kinematics for a tangible humanoid robot control
  crossref Tutan Nama, Suman Deb 2021-08-20T19:21:05Z 置信度 0.70
• Panoramic view reconstruction for stereoscopic teleoperation of a humanoid robot
  crossref Konstantinos Theofilis, Jason Orlosky, Yukie Nagai, Kiyoshi Kiyokawa 2017-01-05T17:21:59Z 置信度 0.70
• A Humanoid Robot Asks Humans for Help to Navigate Elevators
  crossref Niklas Arlt, Fabian Reister, Christian Dreher, Tamim Asfour 2025-10-24T17:15:50Z 置信度 0.70
• Gravity Compensation on Humanoid Robot Control with Robust Joint Servo and Non-integrated Rate-gyroscope
  crossref Tomomichi Sugihara, Yoshihiko Nakamura 2007-03-02T20:47:05Z 置信度 0.70
• The HuGo Humanoid Project: A Modular Social Robot
  crossref Tamas Gabor, Oskar Palinko 2025-05-12T17:38:30Z 置信度 0.70
• Coaching: An Approach to Efficiently and Intuitively Create Humanoid Robot Behaviors
  crossref Marcia Riley, Ales Ude, Christopher Atkeson, Gordon Cheng 2007-03-03T01:47:05Z 置信度 0.70
• Aesthetic design and development of humanoid legged robot
  crossref Mathew Schwartz, Soonwook Hwang, Yisoo Lee, Jongseok Won 等 2015-02-17T19:28:49Z 置信度 0.70
• Decision letter for "Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?"
  crossref 2023-05-31T07:48:50Z 置信度 0.70
• Similar key posture transformation based on hierarchical Option for humanoid robot
  crossref Wende KE, Zhiping PENG, Ke CHEN, Shunbo XIANG 2013-10-15T01:38:32Z 置信度 0.70
• The Development of Dance Movement in Humanoid Robot Dancing ERISA
  crossref Novian Satria, Eko Binugroho, Ridhan Chairussy, Dwi Basuki 等 2023-01-26T15:18:20Z 置信度 0.70
• Modelling and control of the humanoid robot RH-1 for collaborative tasks
  crossref P. Pierro, C.A. Monje, C. Balaguer 2011-01-24T16:08:05Z 置信度 0.70
• Position and Attitude Control of an Underactuated Flying Humanoid Robot
  crossref Gabriele Nava, Luca Fiorio, Silvio Traversaro, Daniele Pucci 2019-01-25T02:51:38Z 置信度 0.70
• The Relationship between Contingency and Complexity in a Lifelike Humanoid Robot
  crossref Fumitaka Yamaoka, Takayuki Kanda, Hiroshi Ishiguro, Norihiro Hagita 2007-03-03T01:47:05Z 置信度 0.70
• Design of New Drive Mechanism for Dynamic Movement of Humanoid Robot Legs
  crossref Min-Ho Park, Baek-Kyu Cho 2024-01-01T14:32:51Z 置信度 0.70
• An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane
  crossref M. Hassan Tanveer, Antonio Sgorbissa 2018-08-07T09:40:22Z 置信度 0.70
• Tools for simulating humanoid robot dynamics: A survey based on user feedback
  crossref Serena Ivaldi, Jan Peters, Vincent Padois, Francesco Nori 2015-02-17T19:28:49Z 置信度 0.70
• Sit-to-stand task on a humanoid robot from human demonstration
  crossref Michael Mistry, Akihiko Murai, Katsu Yamane, Jessica Hodgins 2011-01-13T21:34:20Z 置信度 0.70
• Culturally Sensitive Human-Robot Interaction: A Case Study with the Pepper Humanoid Robot
  crossref Pamely Zantou, David Vernon 2023-10-31T17:45:54Z 置信度 0.70
• Analyzing and Reducing Energy Usage in a Humanoid Robot During Standing Up and Sitting Down Tasks
  The aim of this paper is to reduce the energy consumption of a humanoid by analyzing electrical power as input to the robot and mechanical power as output. The analysis considers motor dynamics during standing up and sitting down tasks. The motion tasks of the…
  crossref Ercan Elibol, Juan Calderon, Martin Llofriu, Wilfrido Moreno 等 2016-07-13T06:13:17Z 置信度 0.70
• Humanoid Robot: A Machine That Walks
  crossref Jun Ho Oh 2008-07-18T17:19:35Z 置信度 0.70
• Competence-Aware Metacognition for Humanoid Robots: Detecting When a Robot Should Not Act
  Modern robot policies can execute increasingly complex behaviors when the environment, task, and embodiment resemble their training data. However, these systems remain fundamentally limited by a missing capability: they usually do not know when they do not kno…
  crossref Aly Maknojiya 2026-07-29T13:37:08Z 置信度 0.70
• The tele-operation of the humanoid robot - workspace extension of the arm with step motion
  crossref H. Hasunuma, K. Nakashima 2008-07-18T11:31:56Z 置信度 0.70
• Healthcare Support by a Humanoid Robot
  crossref Sachie Yamada, Tatsuya Nomura, Takayuki Kanda 2019-03-25T22:51:27Z 置信度 0.70
• Balance Control of Humanoid Robot in Highly Dynamic Environment
  crossref Jaesik Jeong, Jacky Baltes, Jeehyun Yang 2025-01-16T18:31:39Z 置信度 0.70
• HIERARCHICAL REACTIVE CONTROL FOR HUMANOID SOCCER ROBOTS
  Humanoid soccer serves as a benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, for example, in the RoboCup Humanoid League. As the robots improve in the basic skills of walking, kicking, and getting up, t…
  crossref SVEN BEHNKE, JÖRG STÜCKLER 2009-01-07T05:43:05Z 置信度 0.70
• Dynamic Posture Stabilization Of Humanoid Robot NAO Using 3D-Multilinked Dual Spring-Loaded Inverted Pendulum Model for Uneven and Inclined Floor
  Gait pattern performance, for its crucial significance in humanoid robot stabilization, has attracted the attention of researchers worldwide. Although simplified models highlight major features, bipedal walking has bewildered the researchers. Therefore, for a …
  crossref Abhishek Kumar Kashyap, Dayal R. Parhi 2023-06-02T02:26:30Z 置信度 0.70
• Concept for behavior generation for the humanoid robot head ROMAN based on habits of interaction
  crossref Jochen Hirth, Karsten Berns 2009-04-10T15:39:42Z 置信度 0.70
• Human Motion Data Acquiring and Analyzing Method for Humanoid Robot Motion Designing
  crossref Li-Ge ZHANG, Shu-Sheng BI, Jin-Lei GAO 2010-04-30T03:01:42Z 置信度 0.70
• OS1402 Development of a Humanoid Robot for the Simulation of Wheelchair Propulsion
  crossref Anton DE BODE, Motomu NAKASHIMA 2017-06-24T01:07:48Z 置信度 0.70
• Object recognition for locomotion and manipulation with a humanoid robot in an industrial environment
  Reconnaissance d’objets visant à la locomotion et à la manipulation par un robot humanoide dans un environnement industriel Cette thèse s'applique au contexte de l'industrie aéronautique. Elle a pour cadre deux projets. Le premier est Robotics For the Future o…
  crossref Thibaud Lasguignes 2026-04-07T18:10:42Z 置信度 0.70
• Humanoid robot gait planning based on 3D linear inverted pendulum model
  crossref Guo-chen YU, Yong-xin LIU, Xiao-hong LI 2013-05-15T03:30:22Z 置信度 0.70
• EDITORIAL: HUMANOID ROBOTS — HYPE OR HOPE?
  crossref ALOIS KNOLL, R. DILLMANN 2004-12-16T21:53:32Z 置信度 0.70
• Toddlers entranced by humanoid robot
  crossref 2007-12-05T16:58:09Z 置信度 0.70
• Design and implementation of an expressive gesture model for a humanoid robot
  crossref Quoc Anh Le, Souheil Hanoune, Catherine Pelachaud 2011-12-16T13:31:57Z 置信度 0.70
• Trajectory optimization of COmpliant HuMANoid (COMAN) robot arm using path parameter based dynamic programming
  crossref Zeeshan Shareef, Jochen Steil 2017-01-05T17:21:59Z 置信度 0.70
• Autonomous narration of humanoid robot kitchen task experience
  crossref Qingxiaoyang Zhu, Vittorio Perera, Mirko Wachter, Tamim Asfour 等 2018-01-08T17:46:08Z 置信度 0.70
• Humanoid robot “DB”
  crossref Shin’ya Kotosaka, Tomohiro Shibata, Stefan Schaal 2007-05-16T10:26:25Z 置信度 0.70
• Study on humanoid robot systems: An energy approach
  crossref L. De Michieli, F. Nori, A. Pini Prato, G. Sandini 2011-01-24T16:08:05Z 置信度 0.70
• Affective communication system with multimodality for a humanoid robot, AMI
  crossref Hye-Won Jung, Yong-Ho Seo, M.S. Ryoo, H.S. Yang 2005-07-28T01:00:20Z 置信度 0.70
• Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST)
  crossref Ill-Woo Park, Jung-Yup Kim, Jungho Lee, Min-Su Kim 等 2012-03-23T19:28:06Z 置信度 0.70
• AUTOMATION OF KAHOOT! BY THE HUMANOID ROBOT PEPPER – COMPARING RESULTS FROM CLASSES – ROBOT VS. LECTURERS
  crossref Achim Dannecker, Daniel Hertig 2023-03-27T08:42:49Z 置信度 0.70
• Multi-humanoid world modeling in Standard Platform robot soccer
  crossref Brian Coltin, Somchaya Liemhetcharat, Cetin Mericli, Junyun Tay 等 2011-01-13T21:34:20Z 置信度 0.70
• An Inverse Perspective Mapping Approach using Monocular Camera of Pepper Humanoid Robot to Determine the Position of Other Moving Robot in Plane
  crossref M. Hassan Tanveer, Antonio Sgorbissa 2018-09-14T14:57:08Z 置信度 0.70
• Real-time Active Vision for a Humanoid Soccer Robot using Deep Reinforcement Learning
  crossref Soheil Khatibi, Meisam Teimouri, Mahdi Rezaei 2021-02-10T10:06:21Z 置信度 0.70
• EDITORIAL: HUMANOID ROBOTS — HYPE OR HOPE?
  crossref ALOIS KNOLL, R. DILLMANN 2004-10-05T10:58:45Z 置信度 0.70
• MODULAR IK: A ROBUST INVERSE KINEMATIC ALGORITHM FOR GESTURE IMITATION IN AN UPPER-BODY HUMANOID ROBOT
  A method of computing humanoid robot joint angles from human motion data is presented in this paper. The proposed method groups the motors of an upper-body humanoid robot into pan-tilt and spherical modules, solves the inverse kinematics (IK) problem for each …
  crossref KENG PENG TEE, RUI YAN, YUANWEI CHUA, ZHIYONG HUANG 等 2012-08-08T08:45:51Z 置信度 0.70
• First humanoid robot in space - and on Twitter
  crossref 2017-01-31T11:26:00Z 置信度 0.70
• Estimating the Timing of Large-scale Humanoid Robot Adoption: An Analytical Simulation Framework
  The rapid development of humanoid robotics has intensified interest in when these technologies will become economically viable on a large scale. Existing research has primarily examined technological capabilities and labour-market impacts, while providing limi…
  crossref Carlos Contreras 2026-08-01T08:37:18Z 置信度 0.70
• Towards a humanoid museum guide robot that interacts with multiple persons
  crossref M. Bennewitz, F. Faber, D. Joho, M. Schreiber 等 2006-01-25T16:24:16Z 置信度 0.70
• Experiments of vision guided walking of humanoid robot, KHR-2
  crossref Jung-Yup Kim, Ill-Woo Park, Jungho Lee, Jun-Ho Oh 2006-01-25T16:24:16Z 置信度 0.70
• Decision letter for "Walking like a robot: do the ground reaction forces still intersect near one point when humans imitate a humanoid robot?"
  crossref 2023-05-31T07:48:50Z 置信度 0.70
• An Ontology-Based Expert System to Support the Design of Humanoid Robot Components
  crossref Oliver Karrenbauer, Samuel Rader, Tamim Asfour 2019-01-25T02:51:38Z 置信度 0.70
• Low-cost force sensors for small size humanoid robot
  crossref Gregoire Passault, Quentin Rouxel, Ludovic Hofer, Steve N'Guyen 等 2015-12-28T16:34:48Z 置信度 0.70
• Spoken Language and Vision for Adaptive Human-Robot Cooperation
  crossref Peter Ford 2012-03-23T19:28:06Z 置信度 0.70
• Robotic Marketing Devices presents SalesBot – first humanoid robot for deployment in sales
  crossref 2014-11-13T17:49:07Z 置信度 0.70
• Learning Ecosystem in Elementary School Using Modifiable Humanoid Robot
  crossref Takuya Sato, Hirotaka Osawa 2019-03-25T22:51:27Z 置信度 0.70
• Back from the Dead: Self-recovery Strategy for Modular Planetary Exploration Robots_supp4-3644668.mp4
  crossref Ning Zhao 2025-12-23T18:33:01Z 置信度 0.70
• Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator
  This paper describes an algorithm that enables a humanoid robot to perform an impulsive pedipulation task on a spherical object in the environment; that is, by using its feet to exert an impulsive force capable of driving the object to a 3D goal position while…
  crossref Rafael Cisneros, Kazuhito Yokoi, Eiichi Yoshida 2016-03-29T07:21:44Z 置信度 0.70
• Inclined plane walking compensation for a humanoid robot
  crossref Nattapong Kaewlek, Thavida Maneewarn 2020-09-14T21:44:53Z 置信度 0.70
• Humanoid Robots That Behave, Speak, and Think Like Humans:A Reduction to Practice RRC-Humanoid Robot
  crossref Alan Rosen, David B. Rosen 2015-01-16T00:34:45Z 置信度 0.70
• Bipedal Running: Bioinspired Fundamentals for versatile Humanoid Robot Locomotion
  crossref Konrad Fründ, Fabian Beck, Anton Shu, Florian Loeffl 等 2024-01-01T14:32:51Z 置信度 0.70
• Genetic Algorithm for a Learning Humanoid Robot
  crossref Asya Toskova, Borislav Toshkov, Stanimir Stoyanov, Ivan Popchev 2019-08-24T14:58:08Z 置信度 0.70
• Small-space controllability of a walking humanoid robot
  crossref Sebastien Dalibard, Antonio El Khoury, Florent Lamiraux, Michel Taix 等 2011-12-16T18:31:57Z 置信度 0.70
• Multimodal and multi-objectives control by quadratic programming for humanoid robot in industrial contexts
  Commande multimodales et multi-objectives par programmation quadratique pour robot humanoïde en applications industrielles. Récemment, les domaines d’application des robots humanoïdes se sont progressivement déplacés des prototypes de recherche en laboratoire,…
  crossref Kevin Chappellet 2026-04-06T22:28:44Z 置信度 0.70
• Real-time stereo facial feature tracking: mimicking human mouth movement on a humanoid robot head
  crossref S. Gurbuz, T. Shimizu, G. Cheng 2006-01-25T16:24:16Z 置信度 0.70
• Development of a Humanoid Dual Arm System for a Single Spherical Wheeled Balancing Mobile Robot
  crossref Roberto Shut, Ralph Hollis 2020-03-17T04:35:02Z 置信度 0.70
• Dynamic parameters identification of a humanoid robot using joint torque sensors and/or contact forces
  crossref Yusuke Ogawa, Gentiane Venture, Christian Ott 2015-02-18T00:28:49Z 置信度 0.70
• Integrative Wrapping System for a Dual-Arm Humanoid Robot
  crossref Yukina Iwata, Shun Hasegawa, Kento Kawaharazuka, Kei Okada 等 2024-12-03T18:54:29Z 置信度 0.70
• On-Site Locomotion Planning for a Humanoid Robot with Stable Whole-Body Collision Avoidance Motion Guided by Footsteps and Centroidal Trajectory
  In this paper, we propose a locomotion planning framework for a humanoid robot with stable whole-body collision avoidance motion, which enables the robot to traverse an unknown narrow space on the spot based on environmental measurements. The key idea of the p…
  crossref Iori Kumagai, Mitsuharu Morisawa, Shin’ichiro Nakaoka, Fumio Kanehiro 2019-11-22T10:01:33Z 置信度 0.70
• Full dynamics LQR control of a humanoid robot: An experimental study on balancing and squatting
  crossref Sean Mason, Ludovic Righetti, Stefan Schaal 2015-02-17T19:28:49Z 置信度 0.70
• Evaluation of assistive devices using humanoid robot with mechanical parameters identification
  crossref Ko Ayusawa, Shin'ichiro Nakaoka, Eiichi Yoshida, Yumeko Imamura 等 2015-02-17T19:28:49Z 置信度 0.70
• A dialogue manager for multimodal human‐robot interaction and learning of a humanoid robot
  Purpose This paper aims to give an overview of a dialogue manager and recent experiments with multimodal human‐robot dialogues. Design/methodology/approach The paper identifies requirements and solutions in the design of a human‐robot interface. The paper pres…
  crossref Hartwig Holzapfel 2008-11-01T08:08:13Z 置信度 0.70
• Humanoid robot control using depth camera
  crossref Halit Bener Suay, Sonia Chernova 2011-03-09T14:43:42Z 置信度 0.70
• Remote-controlled humanoid robot system
  crossref T. Nishimura, J. Takeno 2002-11-13T23:28:47Z 置信度 0.70
• Design of humanoid robot for human-robot interaction - Waseda Robots: Wendy and Wamoeba -
  crossref S. Sugano 2008-02-06T17:40:03Z 置信度 0.70
• Interaction design for an enjoyable play interaction with a small humanoid robot
  crossref Martin D. Cooney, Takayuki Kanda, Aris Alissandrakis, Hiroshi Ishiguro 2011-12-16T13:31:57Z 置信度 0.70
• The Natural Gradient as a control signal for a humanoid robot
  crossref Marijn F. Stollenga, Alan J. Lockett, Jurgen Schmidhuber 2015-12-28T21:34:48Z 置信度 0.70
• Balance motion generation for a humanoid robot playing table tennis
  crossref Yichao Sun, Rong Xiong, Qiuguo Zhu, Jun Wu 等 2011-12-16T18:31:57Z 置信度 0.70
• Movement generation using dynamical systems : a humanoid robot performing a drumming task
  crossref Sarah Degallier, Cristina Santos, Ludovic Righetti, Auke Ijspeert 2007-03-03T01:47:05Z 置信度 0.70
• Reproduction of roller painting operations by humanoid robot for observational learning
  crossref Yoshiaki Watanabe, Kyosuke Miyairi, Kimitoshi Yamazaki, Mikita Miyaguchi 2023-01-05T19:08:26Z 置信度 0.70
• Understanding movements of hand-over between two persons to improve humanoid robot systems
  crossref Robin Rasch, Sven Wachsmuth, Matthias Konig 2018-01-08T17:46:08Z 置信度 0.70
• Human motion oriented control method for humanoid robot
  crossref H. Imai, M. Nozawa, Y. Kawamura, Y. Sankai 2003-06-25T23:45:08Z 置信度 0.70
• Realization of stretch-legged walking of the humanoid robot
  crossref Min-Su Kim, Inhyeok Kim, Sangsin Park, Jun Ho Oh 2011-01-24T21:08:05Z 置信度 0.70
• Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels
  crossref Jory Lafaye, David Gouaillier, Pierre-Brice Wieber 2015-02-17T19:28:49Z 置信度 0.70
• Realization of natural interaction dialogs in public environments using the humanoid robot ROMAN
  crossref N. Schmitz, J. Hirth, K. Berns 2011-01-24T21:08:05Z 置信度 0.70
• The interactive motion control for a small humanoid robot
  crossref T. Moridaira, A. Miyamoto, S. Shimizu, Y. Kawanami 等 2006-01-25T11:24:16Z 置信度 0.70
• AGILOped: Agile Open-Source Humanoid Robot for Research
  With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performance. Most of these systems remain closed-source or have high acquisition and main…
  crossref Grzegorz Ficht, Luis Denninger, Sven Behnke 2025-09-13T22:50:22Z 置信度 0.70
• A wearable visuo-inertial interface for humanoid robot control
  crossref Junichi Sugiyama, Jun Miura 2013-03-27T16:58:00Z 置信度 0.70