{"id":"https://openalex.org/W2117155277","doi":"https://doi.org/10.1007/978-3-540-78317-6_31","title":"A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts","display_name":"A Unified Framework for Whole-Body Humanoid Robot Control with Multiple Constraints and Contacts","publication_year":2008,"publication_date":"2008-02-11","ids":{"openalex":"https://openalex.org/W2117155277","doi":"https://doi.org/10.1007/978-3-540-78317-6_31","mag":"2117155277"},"language":"en","primary_location":{"id":"doi:10.1007/978-3-540-78317-6_31","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-78317-6_31","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","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/A5051336665","display_name":"Oussama Khatib","orcid":"https://orcid.org/0000-0003-0482-1415"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Oussama Khatib","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, California, 94305, USA","Stanford University"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, California, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, California, 94305, USA","Stanford University"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, California, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109221894","display_name":"Jae-Heung Park","orcid":null},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jae-Heung Park","raw_affiliation_strings":["Computer Science Department, Stanford University, Stanford, California, 94305, USA","Stanford University"],"affiliations":[{"raw_affiliation_string":"Computer Science Department, Stanford University, Stanford, California, 94305, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Stanford University","institution_ids":["https://openalex.org/I97018004"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5051336665"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":27.4563,"has_fulltext":false,"cited_by_count":75,"citation_normalized_percentile":{"value":0.99595142,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"303","last_page":"312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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":0.996999979019165,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/humanoid-robot","display_name":"Humanoid robot","score":0.7368329763412476},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6254838705062866},{"id":"https://openalex.org/keywords/interactivity","display_name":"Interactivity","score":0.5831314921379089},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5722713470458984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5570272207260132},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5361720323562622},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.48629626631736755},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.46390315890312195},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.42147043347358704},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4200070798397064},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.38455480337142944},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.3374312222003937},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3368210792541504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24037906527519226},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2126064896583557},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.13804057240486145},{"id":"https://openalex.org/keywords/multimedia","display_name":"Multimedia","score":0.06480905413627625}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7368329763412476},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6254838705062866},{"id":"https://openalex.org/C144430266","wikidata":"https://www.wikidata.org/wiki/Q839721","display_name":"Interactivity","level":2,"score":0.5831314921379089},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5722713470458984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5570272207260132},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5361720323562622},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.48629626631736755},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.46390315890312195},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.42147043347358704},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4200070798397064},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.38455480337142944},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.3374312222003937},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3368210792541504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24037906527519226},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2126064896583557},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.13804057240486145},{"id":"https://openalex.org/C49774154","wikidata":"https://www.wikidata.org/wiki/Q131765","display_name":"Multimedia","level":1,"score":0.06480905413627625},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-3-540-78317-6_31","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-3-540-78317-6_31","pdf_url":null,"source":{"id":"https://openalex.org/S4210185684","display_name":"Springer tracts in advanced robotics","issn_l":"1610-742X","issn":["1610-742X","1610-7438"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319965","host_organization_name":"Springer Nature","host_organization_lineage":["https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Springer Tracts in Advanced Robotics","raw_type":"book-chapter"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.128.4238","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.128.4238","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.robotics.stanford.edu/~lsentis/files/euros-khatib-sentis-park-08.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.146.5826","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.146.5826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ai.stanford.edu/~lsentis/files/euros-khatib-sentis-park-08.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Quality Education","score":0.5299999713897705,"id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W2067161665","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2116143174","https://openalex.org/W2118320757","https://openalex.org/W2133537805","https://openalex.org/W2142992961","https://openalex.org/W2169564405","https://openalex.org/W2250331966"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W2152492056"],"abstract_inverted_index":null,"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":5},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":4},{"year":2012,"cited_by_count":5}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
