{"id":"https://openalex.org/W1977736046","doi":"https://doi.org/10.1109/coase.2014.6899474","title":"Online maintaining behavior of high-load and unstable postures based on whole-body load balancing strategy with thermal prediction","display_name":"Online maintaining behavior of high-load and unstable postures based on whole-body load balancing strategy with thermal prediction","publication_year":2014,"publication_date":"2014-08-01","ids":{"openalex":"https://openalex.org/W1977736046","doi":"https://doi.org/10.1109/coase.2014.6899474","mag":"1977736046"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2014.6899474","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899474","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5024076633","display_name":"Shintaro Noda","orcid":"https://orcid.org/0000-0001-7428-9837"},"institutions":[{"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":"Shintaro Noda","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"institutions":[{"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":"Masaki Murooka","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102253148","display_name":"Shunichi Nozawa","orcid":null},"institutions":[{"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":"Shunichi Nozawa","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112241257","display_name":"Yohei Kakiuchi","orcid":null},"institutions":[{"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":"Yohei Kakiuchi","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"institutions":[{"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":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"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":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.05877598,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"23","issue":null,"first_page":"1166","last_page":"1171"},"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":0.9987999796867371,"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":0.9983000159263611,"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/center-of-gravity","display_name":"Center of gravity","score":0.5560314059257507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5326250195503235},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5298005938529968},{"id":"https://openalex.org/keywords/load-balancing","display_name":"Load balancing (electrical power)","score":0.4971969425678253},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.48789164423942566},{"id":"https://openalex.org/keywords/crawling","display_name":"Crawling","score":0.4854612946510315},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4695836901664734},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.4490096867084503},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4138838052749634},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3548167943954468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10240063071250916},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08765321969985962}],"concepts":[{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.5560314059257507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5326250195503235},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5298005938529968},{"id":"https://openalex.org/C138959212","wikidata":"https://www.wikidata.org/wiki/Q1806783","display_name":"Load balancing (electrical power)","level":3,"score":0.4971969425678253},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.48789164423942566},{"id":"https://openalex.org/C100368936","wikidata":"https://www.wikidata.org/wiki/Q1411725","display_name":"Crawling","level":2,"score":0.4854612946510315},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4695836901664734},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.4490096867084503},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4138838052749634},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3548167943954468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10240063071250916},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08765321969985962},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C187691185","wikidata":"https://www.wikidata.org/wiki/Q2020720","display_name":"Grid","level":2,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2014.6899474","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2014.6899474","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1967607209","https://openalex.org/W2024896907","https://openalex.org/W2062127963","https://openalex.org/W2075203541","https://openalex.org/W2105453532","https://openalex.org/W2123719714","https://openalex.org/W2142468282","https://openalex.org/W2150387201","https://openalex.org/W2155625664","https://openalex.org/W2167712906","https://openalex.org/W2170163952","https://openalex.org/W2320053039","https://openalex.org/W2545385919","https://openalex.org/W2579594151","https://openalex.org/W6680872184"],"related_works":["https://openalex.org/W4321258516","https://openalex.org/W2051833850","https://openalex.org/W4287845917","https://openalex.org/W4390135167","https://openalex.org/W2968643431","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2514437290"],"abstract_inverted_index":{"Whole-body":[0],"motions":[1,18],"involving":[2],"contacts":[3,95],"in":[4,25,34,87,121],"some":[5,43],"complex":[6,142,204],"terrains":[7],"may":[8],"become":[9],"sometimes":[10],"high-load":[11,227],"and":[12,53,106,139,171,202,228,248],"unstable":[13,229],"ones.":[14],"These":[15],"kinds":[16],"of":[17,30,37,60,113,116,133,148,168,187,219,226,234],"have":[19],"a":[20,38,70,100,165,172,211,240,246,252],"novel":[21,71],"problem":[22],"not":[23],"considered":[24],"the":[26,35,79,111,122,131,156,161,185,217,223],"previous":[27],"studies:":[28],"integration":[29],"load.":[31],"For":[32],"example,":[33],"situation":[36],"electric":[39],"motor":[40,46,61,181],"subjected":[41],"to":[42,89,109,154,190,197],"high":[44],"loads,":[45,52],"temperature":[47],"will":[48],"increase":[49],"as":[50,58,164,208],"integrating":[51],"finally,":[54],"fatal":[55],"accident":[56],"such":[57,207],"melting":[59],"coils":[62],"would":[63],"happen.":[64],"In":[65],"this":[66,191],"study,":[67],"we":[68,215],"introduce":[69],"behavior":[72,104],"control":[73,105,110],"strategy":[74,102,221],"for":[75,103,118,130,136,222],"load":[76,92,200],"balancing":[77,201,209,243],"that":[78],"robot":[80],"moves":[81],"whole":[82],"body":[83],"during":[84],"execution":[85],"time":[86],"order":[88],"balance":[90],"whole-body":[91],"while":[93],"keeping":[94,203],"with":[96,178],"environment.":[97],"It":[98],"is":[99,152,175,195],"well-known":[101],"motion":[107],"generation":[108],"center":[112,186],"gravity":[114,188],"position":[115],"robots":[117],"balancing.":[119],"Besides,":[120],"recent":[123],"studies,":[124],"optimization":[125,150],"methods":[126],"are":[127],"also":[128],"used":[129],"purpose":[132],"satisfying":[134],"constraints":[135,170],"posture":[137,235,238,244,250],"maintenance":[138,225],"achieving":[140],"more":[141,176,179],"contact":[143,205],"states.":[144],"The":[145],"important":[146],"point":[147],"these":[149],"strategies":[151],"how":[153],"design":[155],"objective":[157,162,192],"function.":[158],"We":[159],"designed":[160],"function":[163,167,173],"barrier":[166],"physical":[169],"which":[174],"larger":[177],"higher":[180],"temperature.":[182],"By":[183],"controlling":[184],"according":[189],"function,":[193],"it":[194],"possible":[196],"achieve":[198],"both":[199],"states":[206],"on":[210,239,245,251],"ladder.":[212],"At":[213],"last,":[214],"confirm":[216],"effectiveness":[218],"our":[220],"long-sustained":[224],"postures":[230],"through":[231],"three":[232],"experiments":[233],"maintenance:":[236],"crouching":[237],"flat":[241,253],"ground,":[242],"ladder":[247],"crawling":[249],"ground.":[254]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}