{"id":"https://openalex.org/W2081596740","doi":"https://doi.org/10.1109/humanoids.2012.6651496","title":"On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control","display_name":"On the dynamics modeling of free-floating-base articulated mechanisms and applications to humanoid whole-body dynamics and control","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2081596740","doi":"https://doi.org/10.1109/humanoids.2012.6651496","mag":"2081596740"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081311040","display_name":"Karim Bouyarmane","orcid":"https://orcid.org/0000-0003-4284-0561"},"institutions":[{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Karim Bouyarmane","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","ATR Comput. Neurosci. Labs., Kyoto, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"ATR Comput. Neurosci. Labs., Kyoto, Japan","institution_ids":[]}]},{"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/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":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory (JRL), CNRS-UM2 Laboratoire d'Informatique de Robotique et de Micor\u00e9lectronique de Montepllier (LIRMM), Tsukuba, Japan","AIST Joint Robot. Lab. (JRL), Tsukuba, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory (JRL), CNRS-UM2 Laboratoire d'Informatique de Robotique et de Micor\u00e9lectronique de Montepllier (LIRMM), Tsukuba, Japan","institution_ids":[]},{"raw_affiliation_string":"AIST Joint Robot. Lab. (JRL), Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.5819,"has_fulltext":false,"cited_by_count":27,"citation_normalized_percentile":{"value":0.89023731,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"36","last_page":"42"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9879000186920166,"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":0.9858999848365784,"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":0.8175466060638428},{"id":"https://openalex.org/keywords/rigid-body-dynamics","display_name":"Rigid body dynamics","score":0.6515694260597229},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5665858387947083},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5530503392219543},{"id":"https://openalex.org/keywords/rigid-body","display_name":"Rigid body","score":0.5469480156898499},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5388222932815552},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4649820029735565},{"id":"https://openalex.org/keywords/hamiltonian-mechanics","display_name":"Hamiltonian mechanics","score":0.41467708349227905},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3778780400753021},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30405277013778687},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.2636597752571106},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.26051491498947144},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21781304478645325},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1810862123966217},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.158257395029068},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.15372326970100403},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15058884024620056},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.14740121364593506}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8175466060638428},{"id":"https://openalex.org/C28461519","wikidata":"https://www.wikidata.org/wiki/Q2037529","display_name":"Rigid body dynamics","level":3,"score":0.6515694260597229},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5665858387947083},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5530503392219543},{"id":"https://openalex.org/C145980571","wikidata":"https://www.wikidata.org/wiki/Q192788","display_name":"Rigid body","level":2,"score":0.5469480156898499},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5388222932815552},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4649820029735565},{"id":"https://openalex.org/C136864674","wikidata":"https://www.wikidata.org/wiki/Q477921","display_name":"Hamiltonian mechanics","level":3,"score":0.41467708349227905},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3778780400753021},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30405277013778687},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.2636597752571106},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.26051491498947144},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21781304478645325},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1810862123966217},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.158257395029068},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.15372326970100403},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15058884024620056},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.14740121364593506},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C151342819","wikidata":"https://www.wikidata.org/wiki/Q62542","display_name":"Phase space","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/humanoids.2012.6651496","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651496","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.1007.7104","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1007.7104","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.cns.atr.jp/%7Ekarim/dynamics.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.1023.8648","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.1023.8648","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://www.researchgate.net/profile/Karim_Bouyarmane/publication/235632726_On_the_Dynamics_Modeling_of_Free-Floating-Base_Articulated_Mechanisms_and_Applications_to_Humanoid_Whole-Body_Dynamics_and_Control/links/0912f512111c0b81ec000000.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:lirmm-00765815v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765815","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://www.humanoidrobots.org/humanoids2012/","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-00765815v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00765815","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://www.humanoidrobots.org/humanoids2012/","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.44999998807907104,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W28293053","https://openalex.org/W618254468","https://openalex.org/W1509235676","https://openalex.org/W1593430322","https://openalex.org/W1937762691","https://openalex.org/W1964965610","https://openalex.org/W1969140852","https://openalex.org/W2099442362","https://openalex.org/W2100386752","https://openalex.org/W2105229687","https://openalex.org/W2112337604","https://openalex.org/W2128848325","https://openalex.org/W2130999229","https://openalex.org/W2140403608","https://openalex.org/W2153731877","https://openalex.org/W2160049112","https://openalex.org/W2160107618","https://openalex.org/W2162655700","https://openalex.org/W2164288353","https://openalex.org/W2164833077","https://openalex.org/W2166162370","https://openalex.org/W2266380092","https://openalex.org/W3144286684","https://openalex.org/W4233512036","https://openalex.org/W6684180196"],"related_works":["https://openalex.org/W1547662599","https://openalex.org/W2165354764","https://openalex.org/W4233673530","https://openalex.org/W2499999313","https://openalex.org/W2329279984","https://openalex.org/W2084751898","https://openalex.org/W2914794850","https://openalex.org/W2116630444","https://openalex.org/W2183293709","https://openalex.org/W2129889188"],"abstract_inverted_index":{"We":[0],"propose":[1],"in":[2,44,104],"this":[3],"paper":[4],"a":[5,39],"general":[6],"analytic":[7],"scheme":[8],"based":[9],"on":[10],"Gauss":[11],"principle":[12],"of":[13,19,24,26,35,53,76,96,102,114],"least":[14],"constraint":[15],"for":[16,65,88],"the":[17,20,36,45,50,82,89,109,112,115],"derivation":[18],"Lagrangian":[21],"dynamics":[22,91],"equation":[23],"motion":[25],"arbitrarily":[27],"parameterized":[28,57],"free-floating-base":[29],"articulated":[30],"mechanisms.":[31],"The":[32],"free-floating":[33],"base":[34],"mechanism":[37],"is":[38,85],"non-actuated":[40],"rigid":[41],"object":[42],"evolving":[43],"6D":[46],"Lie":[47],"group":[48],"SE(3),":[49],"SO(3)":[51],"component":[52],"which":[54],"can":[55],"be":[56],"using":[58],"arbitrary":[59,105],"coordinate":[60],"charts":[61],"with":[62,108],"equality":[63],"constraints,":[64],"instance":[66],"unit":[67],"quaternions":[68],"(also":[69],"known":[70],"as":[71],"Euler":[72],"parameters).":[73],"This":[74],"class":[75],"systems":[77],"includes":[78],"humanoid":[79,98,103],"robots,":[80],"and":[81,93],"presented":[83],"formalism":[84],"particularly":[86],"suitable":[87],"whole-body":[90],"modeling":[92],"control":[94],"problem":[95],"such":[97],"systems.":[99],"Example":[100],"motions":[101],"contact":[106],"states":[107],"environment":[110],"demonstrate":[111],"originality":[113],"approach.":[116]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-08-27T14:10:00.468798","created_date":"2025-10-10T00:00:00"}
