{"id":"https://openalex.org/W2007533571","doi":"https://doi.org/10.1109/humanoids.2014.7041486","title":"Dynamically consistent motion design of a humanoid robot even at the limit of kinematics","display_name":"Dynamically consistent motion design of a humanoid robot even at the limit of kinematics","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2007533571","doi":"https://doi.org/10.1109/humanoids.2014.7041486","mag":"2007533571"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041486","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/A5048696294","display_name":"Kenya Tanaka","orcid":"https://orcid.org/0000-0002-6506-3788"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ken'ya Tanaka","raw_affiliation_strings":["Department of Adaptive Machine Systems, Osaka University, Japan","[Department of Adaptive Machine Systems, Osaka University, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Adaptive Machine Systems, Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"[Department of Adaptive Machine Systems, Osaka University, Japan]","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5020961445","display_name":"Tomomichi Sugihara","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomomichi Sugihara","raw_affiliation_strings":["Department of Adaptive Machine Systems, Osaka University, Japan","[Department of Adaptive Machine Systems, Osaka University, Japan]"],"affiliations":[{"raw_affiliation_string":"Department of Adaptive Machine Systems, Osaka University, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"[Department of Adaptive Machine Systems, Osaka University, Japan]","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5048696294"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.5605,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.67309498,"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":"1007","last_page":"1012"},"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9944000244140625,"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":0.8366328477859497},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7471384406089783},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7419735193252563},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.6539263129234314},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5296240448951721},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5237755179405212},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4989593029022217},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4901193082332611},{"id":"https://openalex.org/keywords/limit","display_name":"Limit (mathematics)","score":0.464771568775177},{"id":"https://openalex.org/keywords/leverage","display_name":"Leverage (statistics)","score":0.4212014079093933},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32306134700775146},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.23920422792434692},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.2280701994895935},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.216863751411438},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2153783142566681},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13070884346961975}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8366328477859497},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7471384406089783},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7419735193252563},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6539263129234314},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5296240448951721},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5237755179405212},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4989593029022217},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4901193082332611},{"id":"https://openalex.org/C151201525","wikidata":"https://www.wikidata.org/wiki/Q177239","display_name":"Limit (mathematics)","level":2,"score":0.464771568775177},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.4212014079093933},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32306134700775146},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.23920422792434692},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.2280701994895935},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.216863751411438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2153783142566681},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13070884346961975},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041486","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041486","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":[{"id":"https://metadata.un.org/sdg/16","score":0.6800000071525574,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2006048703","https://openalex.org/W2024714232","https://openalex.org/W2036484113","https://openalex.org/W2061578829","https://openalex.org/W2096498654","https://openalex.org/W2100656166","https://openalex.org/W2104479525","https://openalex.org/W2110536137","https://openalex.org/W2125393905","https://openalex.org/W2138233825","https://openalex.org/W2142569028","https://openalex.org/W2155030241","https://openalex.org/W2159648705","https://openalex.org/W2543545354","https://openalex.org/W2543567854","https://openalex.org/W4231145937","https://openalex.org/W4240768792","https://openalex.org/W6683417200"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2014928560","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W3134555460","https://openalex.org/W2607470227"],"abstract_inverted_index":{"A":[0],"motion":[1],"design":[2],"for":[3],"humanoid":[4],"robots":[5,31],"to":[6,32,62,71,82,89],"satisfy":[7],"dynamical":[8],"constraints":[9,112],"on":[10,47],"the":[11,16,42,53,65,73,78,84,105,126],"external":[12],"forces":[13],"even":[14],"at":[15],"kinematic":[17],"exceptions":[18],"such":[19],"as":[20,122],"singular":[21],"configurations":[22],"and":[23,36,81],"joint":[24],"angle":[25],"limits":[26],"is":[27,61,113],"proposed.":[28],"It":[29,92],"enables":[30],"mimic":[33],"natural,":[34],"comfortable":[35],"lively":[37],"human":[38],"motions,":[39],"which":[40,76],"leverage":[41],"limit":[43],"of":[44,52,59,68,97,104,108,111],"kinematics,":[45],"based":[46],"a":[48,109],"robust":[49],"numerical":[50],"solver":[51],"prioritized":[54],"inverse":[55,127],"kinematics.":[56],"The":[57],"idea":[58],"prioritization":[60],"strictly":[63],"constrain":[64],"least":[66],"number":[67],"contact":[69],"points":[70,86],"form":[72],"supporting":[74],"region":[75],"contains":[77],"desired":[79],"ZMP":[80],"unconstrain":[83],"other":[85],"rather":[87],"than":[88],"keep":[90],"foot-flat.":[91],"increases":[93],"available":[94],"degrees-of-freedom":[95],"instead":[96],"degenerate":[98],"components.":[99],"Motion":[100],"continuity":[101],"in":[102],"spite":[103],"discontinuous":[106],"change":[107],"set":[110],"also":[114],"taken":[115],"into":[116],"account.":[117],"Knee-stretched":[118],"walks":[119],"are":[120],"demonstrated":[121],"an":[123],"application":[124],"with":[125],"dynamics":[128],"analyses.":[129]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}