{"id":"https://openalex.org/W2569977580","doi":"https://doi.org/10.1109/humanoids.2016.7803248","title":"Accelerating whole-body motion generation using regression of the torso posture of a humanoid robot","display_name":"Accelerating whole-body motion generation using regression of the torso posture of a humanoid robot","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2569977580","doi":"https://doi.org/10.1109/humanoids.2016.7803248","mag":"2569977580"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th 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/A5004112508","display_name":"Satoki Tsuichihara","orcid":"https://orcid.org/0000-0003-0203-6544"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoki Tsuichihara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079188720","display_name":"Yuya Hakamata","orcid":null},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Hakamata","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gustavo Alfonso Garcia Ricardez","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I75917431"],"apc_list":null,"apc_paid":null,"fwci":0.5489,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.66313163,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"2016","issue":null,"first_page":"16","last_page":"21"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9922000169754028,"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":0.9876999855041504,"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/torso","display_name":"Torso","score":0.9521205425262451},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7270327806472778},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.691498339176178},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6308587789535522},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6228057742118835},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5780060291290283},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.548401415348053},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5198196172714233},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.48756736516952515},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.45513713359832764},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4486892819404602},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.44533801078796387},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.43619489669799805},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41825827956199646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3713959753513336},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.3446654975414276},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29227307438850403},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19815418124198914},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.156958669424057},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08754798769950867}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9521205425262451},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7270327806472778},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.691498339176178},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6308587789535522},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6228057742118835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5780060291290283},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.548401415348053},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5198196172714233},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.48756736516952515},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.45513713359832764},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4486892819404602},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.44533801078796387},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.43619489669799805},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41825827956199646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3713959753513336},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3446654975414276},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29227307438850403},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19815418124198914},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.156958669424057},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08754798769950867},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803248","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803248","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"mag:2753894412","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702278289372382","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1564897360","https://openalex.org/W1964357740","https://openalex.org/W2009278785","https://openalex.org/W2088677124","https://openalex.org/W2114193135","https://openalex.org/W2120693140","https://openalex.org/W2127972053","https://openalex.org/W2138233825","https://openalex.org/W2292000734","https://openalex.org/W2983916874","https://openalex.org/W6641163509"],"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/W3134555460","https://openalex.org/W2607470227","https://openalex.org/W4389401105"],"abstract_inverted_index":{"In":[0,111,143],"everyday":[1],"environments":[2],"such":[3],"as":[4,69],"kitchens,":[5],"humanoid":[6,153],"robots":[7],"require":[8],"to":[9,19,49,151],"have":[10],"a":[11,16,21,79],"large":[12],"workspace.":[13],"For":[14],"example,":[15],"robot":[17,154],"needs":[18],"grasp":[20],"dish":[22],"in":[23,42,53],"lower":[24,123],"shelves":[25],"while":[26,163],"hunkering":[27,164],"down.":[28,165],"Furthermore,":[29],"because":[30],"the":[31,39,63,73,76,83,87,93,96,100,103,107,118,122,126,137,144,148,152,157,176],"environment":[32],"is":[33,45,171],"dynamic,":[34],"solving":[35],"inverse":[36,51,168],"kinematics":[37,52,169],"for":[38,156],"whole":[40],"body":[41,124],"real":[43,54],"time":[44,55],"necessary.":[46],"We":[47,98],"propose":[48],"solve":[50],"by":[56],"splitting":[57],"it":[58],"into":[59],"simpler":[60],"problems.":[61],"Given":[62],"target":[64],"configurations":[65],"of":[66,75,86,89,95,102,121,140,159],"both":[67,141],"hands":[68],"input,":[70],"we":[71,115,135,146],"calculate":[72,82,136],"orientation":[74,105],"torso":[77,104,132],"using":[78,109],"regressor":[80],"and":[81,106,131],"final":[84],"position":[85],"Center":[88],"Mass":[90],"(CoM)":[91],"from":[92,125],"reachability":[94],"arms.":[97,142],"obtain":[99],"trajectory":[101],"CoM":[108,127],"interpolation.":[110],"each":[112],"control":[113],"step,":[114],"first":[116],"compute":[117],"joint":[119,138],"angles":[120,139],"position,":[128,130],"feet":[129],"orientation.":[133],"Next,":[134],"experiments,":[145],"apply":[147],"proposed":[149,167],"method":[150],"HRP-4":[155],"task":[158],"reaching":[160],"low-height":[161],"positions":[162],"The":[166],"solver":[170],"ten":[172],"times":[173],"faster":[174],"than":[175],"numerical":[177],"solution.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
