{"id":"https://openalex.org/W2912495410","doi":"https://doi.org/10.1109/humanoids.2018.8625076","title":"Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver","display_name":"Partial Yaw Moment Compensation Using an Optimization-Based Multi-Objective Motion Solver","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2912495410","doi":"https://doi.org/10.1109/humanoids.2018.8625076","mag":"2912495410"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2018.8625076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (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/A5039123647","display_name":"Rafael Cisneros","orcid":"https://orcid.org/0000-0002-0850-070X"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Rafael Cisneros","raw_affiliation_strings":["Humanoid Research Group, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, AIST, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["Humanoid Research Group, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, AIST, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["Humanoid Research Group, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, AIST, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"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":"Eiichi Yoshida","raw_affiliation_strings":["CNRS-AIST JRL, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL, Tsukuba, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057476470","display_name":"Kazuhito Yokoi","orcid":"https://orcid.org/0000-0003-3942-2027"},"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":"Kazuhito Yokoi","raw_affiliation_strings":["AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"AIST, Tsukuba, 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":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["Humanoid Research Group, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"Humanoid Research Group, AIST, Tsukuba, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5039123647"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5518,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.69602258,"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":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983999729156494,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9976000189781189,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9958999752998352,"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/solver","display_name":"Solver","score":0.7411791086196899},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6963692307472229},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5427700281143188},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4283183813095093},{"id":"https://openalex.org/keywords/motion-compensation","display_name":"Motion compensation","score":0.4101223647594452},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19441381096839905},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11406275629997253}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7411791086196899},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6963692307472229},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5427700281143188},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4283183813095093},{"id":"https://openalex.org/C128840427","wikidata":"https://www.wikidata.org/wiki/Q1302174","display_name":"Motion compensation","level":2,"score":0.4101223647594452},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19441381096839905},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11406275629997253},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2018.8625076","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2018.8625076","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1468121197","https://openalex.org/W1502712385","https://openalex.org/W1551042121","https://openalex.org/W1997401004","https://openalex.org/W2044976229","https://openalex.org/W2049215078","https://openalex.org/W2073321861","https://openalex.org/W2076787343","https://openalex.org/W2082677043","https://openalex.org/W2102586215","https://openalex.org/W2112337604","https://openalex.org/W2118320757","https://openalex.org/W2125150855","https://openalex.org/W2139452738","https://openalex.org/W2255696229","https://openalex.org/W2313657736","https://openalex.org/W2324378825","https://openalex.org/W2327898972","https://openalex.org/W2335044248","https://openalex.org/W2512590133","https://openalex.org/W2556157337","https://openalex.org/W2737790452","https://openalex.org/W2890575998","https://openalex.org/W3144286684"],"related_works":["https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2186864281","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W4255427455","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2478288626","https://openalex.org/W2532544795"],"abstract_inverted_index":{"Any":[0],"arbitrary":[1],"motion":[2,81,131],"generated":[3],"by":[4,18,136],"a":[5,9,28,51,62,65,122],"humanoid":[6,52],"robot":[7,34,53,88],"produces":[8],"yaw":[10,29,48,112],"moment":[11,49,113],"which":[12],"may":[13],"exceed":[14],"the":[15,19,25,33,47,55,80,87,92,96,108,111,129,133,137],"one":[16],"created":[17],"friction":[20],"between":[21],"its":[22,36],"feet":[23],"and":[24,74],"ground,":[26],"inducing":[27],"rotation":[30],"that":[31,103,117],"deviates":[32],"from":[35],"desired":[37],"path.":[38],"This":[39,76],"paper":[40],"describes":[41],"an":[42],"on-line":[43],"compensation":[44],"scheme":[45],"for":[46,70],"of":[50,64,82,86,99,132],"about":[54],"Zero":[56],"Moment":[57],"Point":[58],"(ZMP),":[59],"formulated":[60],"as":[61],"task":[63],"Quadratic":[66],"Program":[67],"(QP)":[68],"solving":[69],"multiple":[71],"weighted":[72],"objectives":[73],"constraints.":[75],"allows":[77],"to":[78,89,91,95,126],"use":[79],"every":[83],"single":[84],"link":[85],"contribute":[90],"compensation,":[93],"according":[94],"relative":[97],"weight":[98],"other":[100],"primary":[101],"tasks":[102],"it":[104],"should":[105],"perform.":[106],"Within":[107],"proposed":[109],"approach":[110],"is":[114],"partially":[115],"compensated;":[116],"is,":[118],"mostly":[119],"when":[120],"exceeding":[121],"predefined":[123],"threshold,":[124],"allowing":[125],"slow":[127],"down":[128],"residual":[130],"links":[134],"triggered":[135],"compensation.":[138]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}