{"id":"https://openalex.org/W2176242679","doi":"https://doi.org/10.1007/3-540-44869-1_23","title":"Solving the Inverse Kinematics in Humanoid Robots: A Neural Approach","display_name":"Solving the Inverse Kinematics in Humanoid Robots: A Neural Approach","publication_year":2003,"publication_date":"2003-01-01","ids":{"openalex":"https://openalex.org/W2176242679","doi":"https://doi.org/10.1007/3-540-44869-1_23","mag":"2176242679"},"language":"en","primary_location":{"id":"doi:10.1007/3-540-44869-1_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-44869-1_23","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078141318","display_name":"Javier de Lope","orcid":"https://orcid.org/0000-0001-9779-6057"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Javier de Lope","raw_affiliation_strings":["Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033266807","display_name":"Telmo Zarraonand\u00ed\u00ada","orcid":"https://orcid.org/0000-0003-3574-0984"},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Telmo Zarraonandia","raw_affiliation_strings":["Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017247247","display_name":"Rafaela Gonz\u00e1lez-Careaga","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Rafaela Gonz\u00e1lez-Careaga","raw_affiliation_strings":["Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109088883","display_name":"Dar\u00edo Maravall","orcid":null},"institutions":[{"id":"https://openalex.org/I88060688","display_name":"Universidad Polit\u00e9cnica de Madrid","ror":"https://ror.org/03n6nwv02","country_code":"ES","type":"education","lineage":["https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Dar\u00edo Maravall","raw_affiliation_strings":["Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Department of Artificial Intelligence Faculty of Computer Science, Universidad Polit\u00e9cnica de Madrid, Campus de Montegancedo, 28660, Madrid, Spain","institution_ids":["https://openalex.org/I88060688"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078141318"],"corresponding_institution_ids":["https://openalex.org/I88060688"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":4.6089,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.94155844,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"177","last_page":"184"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9948999881744385,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.8070318102836609},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7593656778335571},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7365305423736572},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6895812749862671},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6668074727058411},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6558592319488525},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5769763588905334},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5169874429702759},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.509533703327179},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4987449645996094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4886088967323303},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.46149927377700806},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.4589664936065674},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3383702337741852},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17430755496025085},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12511107325553894}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8070318102836609},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7593656778335571},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7365305423736572},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6895812749862671},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6668074727058411},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6558592319488525},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5769763588905334},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5169874429702759},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.509533703327179},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4987449645996094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4886088967323303},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.46149927377700806},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.4589664936065674},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3383702337741852},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17430755496025085},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12511107325553894},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/3-540-44869-1_23","is_oa":false,"landing_page_url":"https://doi.org/10.1007/3-540-44869-1_23","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.13.8318","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.13.8318","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://gsyc.escet.urjc.es/robotica/rafaela-iwann03.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1566229103","https://openalex.org/W1605767241","https://openalex.org/W1863682520","https://openalex.org/W2008451308","https://openalex.org/W2043968544","https://openalex.org/W2107063340","https://openalex.org/W2112783345","https://openalex.org/W2116897603","https://openalex.org/W2129782053","https://openalex.org/W2914508454","https://openalex.org/W4252510982"],"related_works":["https://openalex.org/W2811382984","https://openalex.org/W2375200650","https://openalex.org/W2351331567","https://openalex.org/W3030642493","https://openalex.org/W1969999327","https://openalex.org/W4283266117","https://openalex.org/W3126987580","https://openalex.org/W2607470227","https://openalex.org/W2744818472","https://openalex.org/W1971821535"],"abstract_inverted_index":null,"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2025-10-10T00:00:00"}
