{"id":"https://openalex.org/W2039435782","doi":"https://doi.org/10.1109/humanoids.2014.7041402","title":"Whole body joint load reduction control for high-load tasks of humanoid robot through adapting joint torque limitation based on online joint temperature estimation","display_name":"Whole body joint load reduction control for high-load tasks of humanoid robot through adapting joint torque limitation based on online joint temperature estimation","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2039435782","doi":"https://doi.org/10.1109/humanoids.2014.7041402","mag":"2039435782"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","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/A5046914866","display_name":"Iori Kumagai","orcid":"https://orcid.org/0000-0003-4204-4282"},"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":true,"raw_author_name":"Iori Kumagai","raw_affiliation_strings":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","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":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, 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":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, 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":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, 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":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, 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":["Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Guraduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656 Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5046914866"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.09623693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"463","last_page":"468"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9969000220298767,"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":0.9968000054359436,"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/torque","display_name":"Torque","score":0.8029054403305054},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.6423301696777344},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.584485650062561},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5153409838676453},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5054259300231934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48702293634414673},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.46542662382125854},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.370591938495636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3625338077545166},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19563382863998413},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15244543552398682},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.09844934940338135}],"concepts":[{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.8029054403305054},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.6423301696777344},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.584485650062561},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5153409838676453},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5054259300231934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48702293634414673},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.46542662382125854},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.370591938495636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3625338077545166},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19563382863998413},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15244543552398682},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.09844934940338135},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041402","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041402","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7400000095367432,"display_name":"Climate action","id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W203546047","https://openalex.org/W2024896907","https://openalex.org/W2029394778","https://openalex.org/W2062127963","https://openalex.org/W2116143174","https://openalex.org/W2120693140","https://openalex.org/W2131710095","https://openalex.org/W2167712906","https://openalex.org/W2170116736","https://openalex.org/W3147253688","https://openalex.org/W6608273969"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W2143454724"],"abstract_inverted_index":{"In":[0,39,65],"the":[1,42,74,77,81,114,132,136,144,156,160,170,176],"field":[2],"of":[3,37,60,89,99],"assistive":[4],"and":[5,26,159,201],"disaster":[6],"response":[7],"robotics,":[8],"robots":[9],"must":[10],"perform":[11],"long":[12],"term":[13],"or":[14,23],"momentary":[15],"high-load":[16,54,205],"tasks,":[17],"such":[18,40,166],"as":[19,173,175],"holding":[20],"heavy":[21],"objects":[22],"climbing":[24],"up":[25],"descending":[27],"from":[28,143],"a":[29,35,70,100,108,124,153,187],"high":[30],"step":[31],"in":[32,56,190,211],"environments":[33,57,212],"with":[34],"lot":[36],"disturbances.":[38],"cases,":[41],"robot":[43,164],"joints":[44,78],"could":[45],"potentially":[46],"break":[47],"due":[48],"to":[49,105,168,186,192],"an":[50],"unintended":[51,214],"load":[52,119,194],"during":[53],"tasks":[55,206],"where":[58,213],"detection":[59],"contact":[61],"forces":[62],"is":[63,95,103,122,184],"difficult.":[64],"this":[66,181],"paper,":[67],"we":[68,151],"propose":[69],"method":[71,127,200],"for":[72],"reducing":[73],"loads":[75,215],"on":[76,86,130],"by":[79,97],"limiting":[80],"joint":[82,93,109,118,157,161],"torque":[83,125,134,183,188],"dynamically":[84],"based":[85],"temperature":[87,111,137,158,171],"estimation":[88],"these":[90],"joints.":[91],"Since":[92],"failure":[94],"caused":[96],"overheating":[98],"motor,":[101],"it":[102],"important":[104],"guarantee":[106],"that":[107,203],"motor":[110,145],"remains":[112],"within":[113],"safe":[115],"limits.":[116],"Our":[117],"reduction":[120],"control":[121],"essentially":[123],"limitation":[126],"which":[128],"bases":[129],"adapting":[131],"maximum":[133,177,182],"given":[135],"predictions.":[138],"Such":[139],"predictions":[140],"are":[141],"extracted":[142],"thermal":[146],"model.":[147],"To":[148],"do":[149],"so,":[150],"establish":[152],"relationship":[154,167],"between":[155],"torque.":[162,179],"The":[163],"uses":[165],"predict":[169],"rise":[172],"well":[174],"allowable":[178],"Next,":[180],"feeded":[185],"controller":[189],"order":[191],"achieve":[193],"reduction.":[195],"We":[196],"experimentally":[197],"tested":[198],"our":[199],"confirmed":[202],"specific":[204],"can":[207],"be":[208],"achieved":[209],"even":[210],"occur.":[216]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}