{"id":"https://openalex.org/W2205656927","doi":"https://doi.org/10.1109/humanoids.2015.7363526","title":"Humanoid robot HRP-2Kai \u2014 Improvement of HRP-2 towards disaster response tasks","display_name":"Humanoid robot HRP-2Kai \u2014 Improvement of HRP-2 towards disaster response tasks","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2205656927","doi":"https://doi.org/10.1109/humanoids.2015.7363526","mag":"2205656927"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","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/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"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":"Kenji Kaneko","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"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":"Mitsuharu Morisawa","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"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":"Shuuji Kajita","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012117970","display_name":"Shin\u2019ichiro Nakaoka","orcid":"https://orcid.org/0000-0002-2346-1251"},"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":"Shin'ichiro Nakaoka","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074889633","display_name":"Takeshi Sakaguchi","orcid":"https://orcid.org/0000-0002-2726-7448"},"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":"Takeshi Sakaguchi","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039123647","display_name":"Rafael Cisneros","orcid":"https://orcid.org/0000-0002-0850-070X"},"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":"Rafael Cisneros","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"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":"Fumio Kanehiro","raw_affiliation_strings":["Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":91,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"132","last_page":"139"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9828000068664551,"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/T13382","display_name":"Robotics and Automated Systems","score":0.9764999747276306,"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":0.889228105545044},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6738815307617188},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5881154537200928},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5426086187362671},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.49803662300109863},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3732984662055969},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3595145642757416},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.32357609272003174},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31467708945274353}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.889228105545044},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6738815307617188},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5881154537200928},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5426086187362671},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.49803662300109863},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3732984662055969},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3595145642757416},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.32357609272003174},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31467708945274353}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363526","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363526","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.75,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1987651301","https://openalex.org/W2000535285","https://openalex.org/W2054518031","https://openalex.org/W2120693140","https://openalex.org/W2123898591","https://openalex.org/W2144351850","https://openalex.org/W2165872642","https://openalex.org/W2166162370","https://openalex.org/W2170217103","https://openalex.org/W2201663451","https://openalex.org/W2202565974","https://openalex.org/W2971321493","https://openalex.org/W3147253688"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W1991876829","https://openalex.org/W2295425790","https://openalex.org/W2088677124","https://openalex.org/W2122369027","https://openalex.org/W1974803039","https://openalex.org/W1569471492","https://openalex.org/W3106073779"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,21,51,92],"humanoid":[4,22,98],"robot":[5],"HRP-2Kai,":[6],"which":[7,25],"is":[8],"the":[9,32,54,60,95],"improvement":[10,47],"version":[11],"of":[12,31,53,94],"HRP-2":[13,18],"towards":[14],"disaster":[15,96],"response":[16,86,97],"tasks.":[17],"stands":[19],"for":[20,84],"robotics":[23],"platform-2,":[24],"was":[26],"developed":[27],"in":[28,48,110],"phase":[29],"two":[30],"Japanese":[33],"national":[34],"project":[35],"HRP":[36],"(Humanoid":[37],"Robotics":[38],"Project,":[39],"from":[40,57],"1998FY":[41],"to":[42,80],"2002FY),":[43],"while":[44],"Kai":[45],"means":[46],"Japanese.":[49],"In":[50],"year":[52,56],"ninth":[55],"releasing":[58],"HRP-2,":[59],"Great":[61],"East":[62],"Japan":[63,66],"Earthquake":[64],"shook":[65],"on":[67,74],"March":[68],"11,":[69],"2011.":[70],"Since":[71],"we":[72,76,90],"reflected":[73],"that":[75,88],"were":[77],"not":[78],"able":[79],"deploy":[81],"our":[82],"robots":[83,99],"emergency":[85],"at":[87],"time,":[89],"started":[91],"study":[93],"by":[100],"improving":[101],"HRP-2.":[102],"Improvements":[103],"are":[104],"presented":[105],"with":[106],"its":[107],"basic":[108],"specification":[109],"this":[111],"paper.":[112]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":7},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":16},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
