{"id":"https://openalex.org/W1846003205","doi":"https://doi.org/10.1109/cec.2004.1331080","title":"A hierarchical approach for adaptive humanoid robot control","display_name":"A hierarchical approach for adaptive humanoid robot control","publication_year":2005,"publication_date":"2005-01-17","ids":{"openalex":"https://openalex.org/W1846003205","doi":"https://doi.org/10.1109/cec.2004.1331080","mag":"1846003205"},"language":"en","primary_location":{"id":"doi:10.1109/cec.2004.1331080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2004.1331080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753)","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/A5100411953","display_name":"Hongwei Liu","orcid":"https://orcid.org/0000-0002-4288-1761"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["CN","JP"],"is_corresponding":false,"raw_author_name":"Hongwei Liu","raw_affiliation_strings":["Graduate School of Frontier Science, University of Tokyo, Bunkyo, Tokyo, Japan","School of Computer and Information, Hefei University of Technology, Hefei, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Science, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]},{"raw_affiliation_string":"School of Computer and Information, Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005925953","display_name":"Hitoshi Iba","orcid":"https://orcid.org/0000-0001-7815-0306"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Iba","raw_affiliation_strings":["Graduate School of Frontier Science, University of Tokyo, Bunkyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Frontier Science, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.08658474,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"tr566","issue":null,"first_page":"1546","last_page":"1553"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9891999959945679,"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":0.8559256196022034},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7322016954421997},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6812168955802917},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5697935223579407},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5367468595504761},{"id":"https://openalex.org/keywords/adaptation","display_name":"Adaptation (eye)","score":0.5365569591522217},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5123649835586548},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4701082110404968},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4210042655467987},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.41392359137535095},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.341816782951355},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13546544313430786}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8559256196022034},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7322016954421997},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6812168955802917},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5697935223579407},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5367468595504761},{"id":"https://openalex.org/C139807058","wikidata":"https://www.wikidata.org/wiki/Q352374","display_name":"Adaptation (eye)","level":2,"score":0.5365569591522217},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5123649835586548},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4701082110404968},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4210042655467987},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.41392359137535095},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.341816782951355},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13546544313430786},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cec.2004.1331080","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cec.2004.1331080","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W108233702","https://openalex.org/W204411021","https://openalex.org/W1481659984","https://openalex.org/W1487387925","https://openalex.org/W1488777488","https://openalex.org/W1500151553","https://openalex.org/W1509235435","https://openalex.org/W1559961189","https://openalex.org/W1584297933","https://openalex.org/W1608391772","https://openalex.org/W2076103977","https://openalex.org/W2149296077","https://openalex.org/W2157522609","https://openalex.org/W2297172695","https://openalex.org/W6608394084","https://openalex.org/W6633598617","https://openalex.org/W6634942749"],"related_works":["https://openalex.org/W2543019745","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/W4386128912","https://openalex.org/W2910269320","https://openalex.org/W2152492056"],"abstract_inverted_index":{"We":[0],"propose":[1],"a":[2,54,107,122],"hierarchical":[3],"approach":[4,41,77,141],"called":[5],"\"CBR":[6],"augmented":[7],"GP\"":[8],"to":[9,29,43,121,128,163],"evolve":[10],"robust":[11,144],"control":[12,31,45,58,97,117,145],"programs":[13,32,146],"for":[14,27,33],"humanoid":[15,34],"robots.":[16,35],"Humanoid":[17],"robots":[18],"are":[19],"high-dimensional":[20],"systems;":[21],"thus":[22],"it":[23,64,127,167],"is":[24,42,99,119],"very":[25],"difficult":[26],"GP":[28,48],"generate":[30,143],"The":[36],"key":[37],"idea":[38],"in":[39,49,69,106,170],"our":[40,75],"extract":[44],"rules":[46],"with":[47,65],"simplified":[50,109,153],"simulation":[51,154],"and":[52,62,85,155],"get":[53],"prototype":[55,94],"of":[56,79,95],"the":[57,70,82,86,90,93,96,112,115,129,159],"program":[59,98,118],"then":[60],"interpret":[61],"interpolate":[63],"case-based":[66],"reasoning":[67],"(CBR)":[68],"real":[71,130,156],"world":[72,131],"environments.":[73],"Accordingly,":[74],"proposed":[76],"consists":[78],"two":[80],"stages:":[81],"evolution":[83],"stage":[84],"adaptation":[87],"stage.":[88],"In":[89,111],"first":[91],"stage,":[92,114],"evolved":[100],"based":[101],"on":[102],"abstract":[103],"primitive":[104],"behaviors":[105],"highly":[108],"simulation.":[110,171],"second":[113],"best":[116],"applied":[120],"physical":[123],"robot":[124,160],"thereby":[125],"adapting":[126],"environments":[132,165],"by":[133],"using":[134],"CBR.":[135],"Experimental":[136],"results":[137],"show":[138],"that":[139,147],"this":[140],"can":[142,148,161],"easily":[149],"overcome":[150],"gaps":[151],"between":[152],"world.":[157],"Furthermore,":[158],"adapt":[162],"new":[164],"which":[166],"never":[168],"encountered":[169]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
