{"id":"https://openalex.org/W2782572287","doi":"https://doi.org/10.1109/humanoids.2017.8239547","title":"Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation","display_name":"Rappelling by a humanoid robot based on transition motion generation and reliable rope manipulation","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2782572287","doi":"https://doi.org/10.1109/humanoids.2017.8239547","mag":"2782572287"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8239547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8239547","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","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/A5112862593","display_name":"Masahiro Bando","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":true,"raw_author_name":"Masahiro Bando","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"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":"Masaki Murooka","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012529990","display_name":"Tori Yanokura","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":"Tori Yanokura","raw_affiliation_strings":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, 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":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, 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":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, 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":["Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Infomatics, The University of Tokyo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5112862593"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.19048868,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"13","issue":null,"first_page":"129","last_page":"135"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9955000281333923,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9952999949455261,"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":0.8773659467697144},{"id":"https://openalex.org/keywords/rope","display_name":"Rope","score":0.8601853847503662},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6218686103820801},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5833602547645569},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5762842297554016},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5657533407211304},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5483218431472778},{"id":"https://openalex.org/keywords/centroid","display_name":"Centroid","score":0.519464910030365},{"id":"https://openalex.org/keywords/range","display_name":"Range (aeronautics)","score":0.4760172963142395},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4359535872936249},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.430254191160202},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41819632053375244},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41074636578559875},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3079611361026764},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10497400164604187},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.09150499105453491},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.0670824646949768}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8773659467697144},{"id":"https://openalex.org/C162269090","wikidata":"https://www.wikidata.org/wiki/Q1156047","display_name":"Rope","level":2,"score":0.8601853847503662},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6218686103820801},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5833602547645569},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5762842297554016},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5657533407211304},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5483218431472778},{"id":"https://openalex.org/C146599234","wikidata":"https://www.wikidata.org/wiki/Q511093","display_name":"Centroid","level":2,"score":0.519464910030365},{"id":"https://openalex.org/C204323151","wikidata":"https://www.wikidata.org/wiki/Q905424","display_name":"Range (aeronautics)","level":2,"score":0.4760172963142395},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4359535872936249},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.430254191160202},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41819632053375244},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41074636578559875},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3079611361026764},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10497400164604187},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.09150499105453491},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0670824646949768},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2017.8239547","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8239547","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1550264883","https://openalex.org/W1566514554","https://openalex.org/W2054518031","https://openalex.org/W2135918588","https://openalex.org/W2152864241","https://openalex.org/W2156398583","https://openalex.org/W2163267929","https://openalex.org/W2211080258","https://openalex.org/W2306209104","https://openalex.org/W2561234917","https://openalex.org/W2565258066","https://openalex.org/W2901136733","https://openalex.org/W6633735124","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2382190654","https://openalex.org/W2745063183","https://openalex.org/W2381926679","https://openalex.org/W2373129217","https://openalex.org/W1924903628","https://openalex.org/W2375717371","https://openalex.org/W424062184","https://openalex.org/W1982975944","https://openalex.org/W4390286213","https://openalex.org/W2026275902"],"abstract_inverted_index":{"For":[0],"robots":[1,23,84],"to":[2,46,67,87],"act":[3],"in":[4,30,44,155],"outdoor":[5],"environments,":[6],"the":[7,18,26,36,89,109,113,117,123,134],"ability":[8,27,37,90],"for":[9,28,38,60,91,105],"locomotion":[10,29,40,93],"is":[11,41,64],"an":[12,139],"important":[13],"factor":[14],"because":[15],"it":[16,146],"influences":[17],"range":[19,49],"of":[20,50,112,126,141,153],"activities.":[21],"Humanoid":[22],"are":[24,85],"acquiring":[25],"horizontal":[31],"directions":[32],"so":[33],"far,":[34],"and":[35,76,116,145],"vertical":[39,61,92],"now":[42],"required":[43],"order":[45],"extend":[47],"their":[48],"activities":[51],"further.":[52],"Therefore,":[53],"we":[54,100,137],"propose":[55,101,122],"rappelling":[56,106,142],"as":[57],"a":[58,65,70,74,77,102,127,151],"method":[59,66],"locomotion.":[62],"Rappelling":[63],"descend":[68,149],"from":[69,150],"high":[71],"place":[72],"using":[73],"rope":[75,128],"belay":[78],"device.":[79],"With":[80,133],"this":[81,98],"method,":[82],"humanoid":[83],"expected":[86],"get":[88],"without":[94],"additional":[95],"actuators.":[96],"In":[97],"paper,":[99],"full-body":[103],"motion":[104],"based":[107],"on":[108],"sequential":[110],"transition":[111],"centroid":[114],"position":[115],"contact":[118],"states.":[119],"We":[120],"also":[121],"reliable":[124],"manipulation":[125],"grasped":[129],"by":[130],"both":[131],"hands.":[132],"proposed":[135],"methods,":[136],"conducted":[138],"experiment":[140],"with":[143],"HRP2,":[144],"could":[147],"successfully":[148],"height":[152],"2m50cm":[154],"277":[156],"seconds.":[157]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}