{"id":"https://openalex.org/W2543071036","doi":"https://doi.org/10.1109/ichr.2005.1573574","title":"Task-oriented whole body motion for humanoid robots","display_name":"Task-oriented whole body motion for humanoid robots","publication_year":2006,"publication_date":"2006-01-25","ids":{"openalex":"https://openalex.org/W2543071036","doi":"https://doi.org/10.1109/ichr.2005.1573574","mag":"2543071036"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2005.1573574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","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/A5025560073","display_name":"Michael Gienger","orcid":"https://orcid.org/0000-0001-8036-2519"},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"M. Gienger","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach am Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033429339","display_name":"H. Jan\u00dfen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"H. Janssen","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach am Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053974584","display_name":"Christian Goerick","orcid":null},"institutions":[{"id":"https://openalex.org/I4210112253","display_name":"Honda (Germany)","ror":"https://ror.org/022c1xk47","country_code":"DE","type":"company","lineage":["https://openalex.org/I1283473643","https://openalex.org/I4210112253"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"C. Goerick","raw_affiliation_strings":["Honda Research Institute Europe GmbH, Offenbach am Main, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Honda Research Institute Europe GmbH, Offenbach am Main, Germany","institution_ids":["https://openalex.org/I4210112253"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":12.4062,"has_fulltext":false,"cited_by_count":113,"citation_normalized_percentile":{"value":0.99093543,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"238","last_page":"244"},"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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10653","display_name":"Robot Manipulation and Learning","score":0.9979000091552734,"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":0.8270725011825562},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8243504166603088},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.761390209197998},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6538518667221069},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6243865489959717},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6177042722702026},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5898986458778381},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.535470187664032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5215520858764648},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.49916839599609375},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4861747622489929},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3551235795021057},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3489692211151123},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3287678360939026},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22934603691101074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1698046624660492},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06816846132278442}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8270725011825562},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8243504166603088},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.761390209197998},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6538518667221069},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6243865489959717},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6177042722702026},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5898986458778381},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.535470187664032},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5215520858764648},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.49916839599609375},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4861747622489929},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3551235795021057},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3489692211151123},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3287678360939026},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22934603691101074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1698046624660492},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06816846132278442},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2005.1573574","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2005.1573574","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"5th IEEE-RAS International Conference on Humanoid Robots, 2005.","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.5,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1507570408","https://openalex.org/W1510918013","https://openalex.org/W1581095231","https://openalex.org/W1939926247","https://openalex.org/W1981483064","https://openalex.org/W1988609580","https://openalex.org/W2049617391","https://openalex.org/W2073558543","https://openalex.org/W2107249223","https://openalex.org/W2112474089","https://openalex.org/W2118872175","https://openalex.org/W2119312651","https://openalex.org/W2132713308","https://openalex.org/W2134368609","https://openalex.org/W2157783419","https://openalex.org/W2346215536","https://openalex.org/W2540408120","https://openalex.org/W2541713394","https://openalex.org/W3088063282","https://openalex.org/W4376502360","https://openalex.org/W6630531309","https://openalex.org/W6729007238"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W1253671258","https://openalex.org/W2731862817","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4396731552","https://openalex.org/W3134555460","https://openalex.org/W4389401105"],"abstract_inverted_index":{"We":[0,29,138],"present":[1,149],"a":[2,47,87,134],"whole":[3],"body":[4],"motion":[5],"control":[6,30,73,127,146],"algorithm":[7],"for":[8,52],"humanoid":[9],"robots.":[10],"It":[11],"is":[12,44],"based":[13],"on":[14,26,152],"the":[15,21,31,37,62,70,109,114,131],"framework":[16],"of":[17,100,133],"Liegeois":[18],"and":[19,39,78,148],"solves":[20],"redundant":[22],"inverse":[23],"kinematics":[24],"problem":[25],"velocity":[27],"level.":[28],"hand":[32,38],"positions":[33],"as":[34,36],"well":[35],"head":[40],"attitude.":[41],"The":[42,102],"attitude":[43],"described":[45],"with":[46,121],"novel":[48],"2-dof":[49],"description":[50],"suited":[51],"symmetrical":[53],"problems.":[54],"Task-specific":[55],"command":[56,63],"elements":[57],"can":[58,94,116],"be":[59,95,117],"assigned":[60,96],"to":[61,72,79,97,141],"vector":[64],"at":[65],"any":[66],"time,":[67],"such":[68,83,129],"enabling":[69],"system":[71,136],"one":[74],"or":[75,125],"multiple":[76],"effectors":[77],"seamlessly":[80],"switch":[81],"between":[82],"modes":[84],"while":[85],"generating":[86],"smooth,":[88],"natural":[89],"motion.":[90],"Further,":[91],"kinematic":[92,104],"constraints":[93],"individual":[98],"degrees":[99],"freedom.":[101],"underlying":[103],"model":[105],"does":[106],"not":[107],"consider":[108],"leg":[110],"joints":[111],"explicitly.":[112],"Nevertheless,":[113],"method":[115],"used":[118],"in":[119,144],"combination":[120],"an":[122],"independent":[123],"balance":[124],"walking":[126,143],"system,":[128],"reducing":[130],"complexity":[132],"complete":[135],"control.":[137],"show":[139],"how":[140],"incorporate":[142],"this":[145],"scheme":[147],"experimental":[150],"results":[151],"ASIMO":[153]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":6},{"year":2012,"cited_by_count":6}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
