{"id":"https://openalex.org/W2569151762","doi":"https://doi.org/10.1109/humanoids.2016.7803260","title":"Whole body motion generation of a humanoid robot using a predifined reaction force","display_name":"Whole body motion generation of a humanoid robot using a predifined reaction force","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2569151762","doi":"https://doi.org/10.1109/humanoids.2016.7803260","mag":"2569151762"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803260","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/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/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/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":2,"citation_normalized_percentile":{"value":0.66245581,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"7","issue":null,"first_page":"95","last_page":"100"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9993000030517578,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9883000254631042,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.9422902464866638},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6381933689117432},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.619333028793335},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.5859595537185669},{"id":"https://openalex.org/keywords/reaction","display_name":"Reaction","score":0.5467601418495178},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.5467516183853149},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5405870676040649},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47288623452186584},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4703117907047272},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45591697096824646},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39627236127853394},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26008141040802},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10299849510192871}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9422902464866638},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6381933689117432},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.619333028793335},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.5859595537185669},{"id":"https://openalex.org/C99664630","wikidata":"https://www.wikidata.org/wiki/Q343546","display_name":"Reaction","level":2,"score":0.5467601418495178},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.5467516183853149},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5405870676040649},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47288623452186584},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4703117907047272},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45591697096824646},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39627236127853394},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26008141040802},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10299849510192871},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803260","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803260","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:2746608439","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/201702238409878810","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":18,"referenced_works":["https://openalex.org/W1968778174","https://openalex.org/W1972048784","https://openalex.org/W1973195195","https://openalex.org/W1975949753","https://openalex.org/W1994275787","https://openalex.org/W2041348389","https://openalex.org/W2101741793","https://openalex.org/W2117758942","https://openalex.org/W2118320757","https://openalex.org/W2120693140","https://openalex.org/W2143982885","https://openalex.org/W2160154188","https://openalex.org/W2168647525","https://openalex.org/W2201603991","https://openalex.org/W2411648973","https://openalex.org/W3147253688","https://openalex.org/W6675142755","https://openalex.org/W6714605219"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"We":[0,98,121],"propose":[1,77,100],"a":[2,10,41,44,80],"method":[3,128],"to":[4,13,78,88,93,101],"generate":[5],"natural-speed":[6],"stable":[7],"motion":[8],"for":[9,30,110],"humanoid":[11,45,131],"robot":[12,46,132],"push":[14],"or":[15],"pull":[16],"an":[17],"object.":[18],"In":[19],"our":[20],"daily":[21],"life,":[22],"we":[23,76],"often":[24],"perform":[25],"pushing":[26],"and":[27,35,87],"pulling":[28],"motions,":[29,75],"example,":[31],"opening/closing":[32],"doors,":[33],"refrigerators,":[34],"drawers.":[36],"Several":[37],"studies":[38],"on":[39],"opening":[40],"door":[42],"using":[43,129],"have":[47],"been":[48],"conducted,":[49],"however,":[50],"because":[51],"no":[52],"prior":[53,85],"knowledge":[54],"about":[55],"the":[56,63,90,95,105,112,118,126,130],"environment":[57],"was":[58],"used":[59,109],"in":[60],"these":[61,74],"studies,":[62],"motions":[64],"generated":[65],"were":[66],"slower":[67],"than":[68],"human":[69],"motion.":[70],"To":[71],"speed":[72],"up":[73],"use":[79],"predifined":[81,96],"reaction":[82],"force":[83],"as":[84],"knowledge,":[86],"expand":[89],"preview":[91,119],"control":[92,108],"handle":[94],"force.":[97],"also":[99],"accelerate":[102],"calculation":[103],"of":[104,114,125],"Resolved":[106],"Momentum":[107],"controlling":[111],"center":[113],"mass":[115],"obtained":[116],"by":[117],"control.":[120],"experimentally":[122],"verified":[123],"applicability":[124],"proposed":[127],"HRP-4.":[133]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}