{"id":"https://openalex.org/W7138887707","doi":"https://doi.org/10.1109/amc67705.2026.11435814","title":"QP-based impact momentum maximization for a hammering task by a humanoid robot","display_name":"QP-based impact momentum maximization for a hammering task by a humanoid robot","publication_year":2026,"publication_date":"2026-03-09","ids":{"openalex":"https://openalex.org/W7138887707","doi":"https://doi.org/10.1109/amc67705.2026.11435814"},"language":null,"primary_location":{"id":"doi:10.1109/amc67705.2026.11435814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"},"type":"article","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/A5126579494","display_name":"Jimmy Vu","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Jimmy Vu","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130037512","display_name":"Ruud Erens","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ruud Erens","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5125706544","display_name":"Helene Stefanelli","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H\u00e9l\u00e8ne Stefanelli","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5130184152","display_name":"Rafael Cisneros-Limon","orcid":null},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rafael Cisneros-Limon","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5018772653","display_name":"Abdelaziz Benallegue","orcid":"https://orcid.org/0000-0003-2316-7981"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Abdelaziz Benallegue","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan"],"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),CNRS-AIST JRL (Joint Robotics Laboratory), IRL3218,Tsukuba,Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5126579494"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.92325156,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9326000213623047,"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":0.9326000213623047,"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":0.01759999990463257,"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"}},{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.009200000204145908,"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":0.8686000108718872},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6801999807357788},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6323000192642212},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.5855000019073486},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.5766000151634216},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5080000162124634},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4009999930858612},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.37779998779296875},{"id":"https://openalex.org/keywords/b\u00e9zier-curve","display_name":"B\u00e9zier curve","score":0.3652999997138977}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8686000108718872},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6801999807357788},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6323000192642212},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.5855000019073486},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.5766000151634216},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5623000264167786},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5080000162124634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49950000643730164},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44609999656677246},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4350000023841858},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4009999930858612},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.37779998779296875},{"id":"https://openalex.org/C206423108","wikidata":"https://www.wikidata.org/wiki/Q214728","display_name":"B\u00e9zier curve","level":2,"score":0.3652999997138977},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.36480000615119934},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3596000075340271},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.35850000381469727},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.3208000063896179},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.31520000100135803},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.3093000054359436},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.2987000048160553},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C175154964","wikidata":"https://www.wikidata.org/wiki/Q380077","display_name":"Task analysis","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2815999984741211},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.2782999873161316},{"id":"https://openalex.org/C48677424","wikidata":"https://www.wikidata.org/wiki/Q6888088","display_name":"Mode (computer interface)","level":2,"score":0.2637999951839447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25440001487731934},{"id":"https://openalex.org/C17511633","wikidata":"https://www.wikidata.org/wiki/Q830694","display_name":"SMT placement equipment","level":3,"score":0.2529999911785126},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.25060001015663147}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/amc67705.2026.11435814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/amc67705.2026.11435814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE 19th International Conference on Advanced Motion Control (AMC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4427407383918762,"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2011506571","https://openalex.org/W2053518269","https://openalex.org/W2147386358","https://openalex.org/W2193998743","https://openalex.org/W2255696229","https://openalex.org/W2332859809","https://openalex.org/W2560831144","https://openalex.org/W2619987429","https://openalex.org/W2890575998","https://openalex.org/W2897441352","https://openalex.org/W2913971027","https://openalex.org/W2962784835","https://openalex.org/W4211144636","https://openalex.org/W4294691804","https://openalex.org/W4298439060","https://openalex.org/W4321020593","https://openalex.org/W4388773879","https://openalex.org/W4411467075"],"related_works":[],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"can":[2],"offload":[3],"repetitive,":[4],"loadbearing":[5],"operations":[6],"that":[7],"expose":[8],"workers":[9],"to":[10,33],"cumulative":[11],"joint":[12],"stress.":[13],"In":[14],"this":[15],"paper,":[16],"we":[17,29,65],"focus":[18],"on":[19,47],"a":[20,31,35,38,42,67],"hammering":[21],"task":[22],"with":[23,37],"our":[24],"humanoid":[25],"robot":[26,60],"HRP-5P":[27],"and":[28,50,61],"propose":[30],"method":[32],"hit":[34],"nail":[36],"given":[39],"impact":[40,62],"for":[41],"desired":[43],"hitting":[44],"velocity":[45],"based":[46],"Quadratic":[48],"Programming":[49],"the":[51,55,59,75],"maximization":[52],"of":[53,58],"both":[54],"effective":[56],"mass":[57],"momentum.":[63],"Moreover,":[64],"implement":[66],"5<sup":[68],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[69],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">th</sup>":[70],"order":[71],"Bezier":[72],"curve":[73],"as":[74],"trajectory,":[76],"which":[77],"ensures":[78],"smooth,":[79],"jerk-bounded":[80],"motions":[81],"from":[82],"any":[83],"reachable":[84],"initial":[85],"pose.":[86]},"counts_by_year":[],"updated_date":"2026-03-20T20:54:20.808490","created_date":"2026-03-20T00:00:00"}
