YAREN: Humanoid Torso Robot Platform for Research, Social Interaction, and Educational Applications. - Daniela Sánchez-Orozco; Rhandall Valdez; Yandri Uchuari; Marcelo Fajardo-Pruna; Luis Cavazos Quero; Redhwan Algabri; Emiliano Quiñones Yumbla; Francisco Yumbla (IEEE Access, 2025)