{"id":"https://openalex.org/W2981770500","doi":"https://doi.org/10.1109/arso46408.2019.8948734","title":"Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot","display_name":"Experimental Study for Controller-Friendly Contact Estimation for Humanoid Robot","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W2981770500","doi":"https://doi.org/10.1109/arso46408.2019.8948734","mag":"2981770500"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02304148","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101465475","display_name":"Takahiro Ito","orcid":"https://orcid.org/0000-0003-2886-1067"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Takahiro Ito","raw_affiliation_strings":["CNRS-University of Montpellier, LIRMM, Interactive Digital Humans, France"],"affiliations":[{"raw_affiliation_string":"CNRS-University of Montpellier, LIRMM, Interactive Digital Humans, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081057425","display_name":"Ko Ayusawa","orcid":"https://orcid.org/0000-0001-8188-4204"},"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":"Ko Ayusawa","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"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":"Eiichi Yoshida","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), UMI3218/RL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4412460525"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRS-University of Montpellier, LIRMM, Interactive Digital Humans, France"],"affiliations":[{"raw_affiliation_string":"CNRS-University of Montpellier, LIRMM, Interactive Digital Humans, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101465475"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I19894307","https://openalex.org/I4210101743"],"apc_list":null,"apc_paid":null,"fwci":0.3969,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.60199518,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"28","last_page":"33"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976999759674072,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9957000017166138,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8832179307937622},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6615031361579895},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.5950732231140137},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5528185963630676},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5504317879676819},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.537287712097168},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5346587896347046},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.477518230676651},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.464459627866745},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.42329108715057373},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4114295244216919},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.385558545589447},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3445599675178528},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.285336971282959},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12855470180511475},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09094902873039246}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8832179307937622},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6615031361579895},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.5950732231140137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5528185963630676},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5504317879676819},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.537287712097168},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5346587896347046},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.477518230676651},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.464459627866745},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.42329108715057373},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4114295244216919},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.385558545589447},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3445599675178528},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.285336971282959},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12855470180511475},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09094902873039246},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/arso46408.2019.8948734","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948734","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-02304148v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02304148","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arso2019.csp.escience.cn/dct/","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-02304148v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-02304148","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://arso2019.csp.escience.cn/dct/","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W1666054468","https://openalex.org/W1853143499","https://openalex.org/W1985406432","https://openalex.org/W1986621758","https://openalex.org/W1995403026","https://openalex.org/W2033480951","https://openalex.org/W2041348389","https://openalex.org/W2062940189","https://openalex.org/W2087431993","https://openalex.org/W2114689627","https://openalex.org/W2120693140","https://openalex.org/W2131232094","https://openalex.org/W2149085596","https://openalex.org/W2159053812","https://openalex.org/W2293662957","https://openalex.org/W2512504484","https://openalex.org/W2567951864","https://openalex.org/W2570284910","https://openalex.org/W2736449616","https://openalex.org/W2737026618","https://openalex.org/W2783014713","https://openalex.org/W2793806172","https://openalex.org/W2895643137","https://openalex.org/W2900391154","https://openalex.org/W3147253688","https://openalex.org/W6678180695","https://openalex.org/W6741563550"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2776995446","https://openalex.org/W2402852349"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"we":[3,68,103],"introduce":[4],"a":[5,12,19,122],"practical":[6],"contact":[7,13,33,44,82,100,110],"observer":[8],"which":[9],"allows":[10],"detecting":[11],"on":[14],"the":[15,25,40,43,50,59,64,71,88,92,97,106,109,116,134],"body":[16],"surface":[17],"of":[18,42,121],"humanoid":[20,135],"robot.":[21,123],"Our":[22],"method":[23,126],"estimates":[24],"error":[26,90],"force":[27,45,73,111],"due":[28],"to":[29,55,75],"undesired":[30],"contact.":[31],"Then,":[32],"detection":[34],"(yes/no)":[35],"is":[36,83,101,127],"performed":[37],"together":[38],"with":[39,58],"estimation":[41],"and":[46,131],"location.":[47],"By":[48],"comparing":[49],"real":[51],"robot":[52,136],"state":[53,61],"according":[54],"sensory":[56],"data":[57],"desired":[60],"computed":[62],"from":[63],"contact-free":[65],"dynamics":[66],"equation,":[67],"can":[69,104],"estimate":[70,105],"external":[72],"applied":[74,113],"an":[76],"unknown":[77],"link.":[78],"The":[79,124],"link":[80,98],"in":[81,99],"then":[84],"detected":[85],"by":[86,114],"tracing":[87],"torque":[89],"along":[91],"robot's":[93],"kinematic":[94],"chain.":[95],"Once":[96],"determined,":[102],"point":[107],"where":[108],"was":[112],"using":[115,133],"3D":[117],"geometric":[118],"mesh":[119],"model":[120],"proposed":[125],"validated":[128],"through":[129],"simulation":[130],"experiments":[132],"HRP-4.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}