{"id":"https://openalex.org/W2044459021","doi":"https://doi.org/10.1109/ichr.2008.4755926","title":"Inverse kinematics with floating base and constraints for full body humanoid robot control","display_name":"Inverse kinematics with floating base and constraints for full body humanoid robot control","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2044459021","doi":"https://doi.org/10.1109/ichr.2008.4755926","mag":"2044459021"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2008.4755926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","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/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Michael Mistry","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Computer Science","Computer Science, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"Computer Science, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090091148","display_name":"Jun Nakanishi","orcid":"https://orcid.org/0000-0003-4457-6581"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I1319490839","https://openalex.org/I4210086780"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Nakanishi","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","ICORP, Japan Science and Technology Agency, Saitama, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"ICORP, Japan Science and Technology Agency, Saitama, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Gordon Cheng","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Computer Science","Neuroscience, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"Neuroscience, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107392143","display_name":"Stefan Schaal","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210104143","display_name":"Advanced Telecommunications Research Institute International","ror":"https://ror.org/01pe1d703","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210104143"]}],"countries":["JP","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["ATR Computational Neuroscience Laboratories, Kyoto, Japan","Computer Science","Neuroscience, University of Southern California, Los Angeles, CA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, Kyoto, Japan","institution_ids":["https://openalex.org/I4210104143"]},{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"Neuroscience, University of Southern California, Los Angeles, CA, USA","institution_ids":["https://openalex.org/I1174212"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"22","last_page":"27"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994000196456909,"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":0.9926000237464905,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8548678159713745},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8365128040313721},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6164436936378479},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6044146418571472},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5941228866577148},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.529160737991333},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5271313190460205},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5014803409576416},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.499981164932251},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4846971035003662},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.46636709570884705},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4511602520942688},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41716620326042175},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3953129053115845},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.344818651676178},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2803049683570862},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2700154781341553},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2544442117214203},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23330625891685486},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.13715165853500366},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.052271634340286255}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8548678159713745},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8365128040313721},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6164436936378479},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6044146418571472},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5941228866577148},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.529160737991333},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5271313190460205},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5014803409576416},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.499981164932251},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4846971035003662},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.46636709570884705},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4511602520942688},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41716620326042175},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3953129053115845},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.344818651676178},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2803049683570862},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2700154781341553},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2544442117214203},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23330625891685486},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.13715165853500366},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.052271634340286255},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2008.4755926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2008.4755926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320324704","display_name":"Japan Science Society","ror":"https://ror.org/03aeyg892"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"},{"id":"https://openalex.org/F4320338112","display_name":"Exploratory Research for Advanced Technology","ror":null},{"id":"https://openalex.org/F4320338279","display_name":"Air Force Office of Scientific Research","ror":"https://ror.org/011e9bt93"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W216064520","https://openalex.org/W1545748428","https://openalex.org/W1562327279","https://openalex.org/W1569654252","https://openalex.org/W1581095231","https://openalex.org/W1971609423","https://openalex.org/W1997752220","https://openalex.org/W2036484113","https://openalex.org/W2037729465","https://openalex.org/W2042803738","https://openalex.org/W2050271375","https://openalex.org/W2072763216","https://openalex.org/W2099442362","https://openalex.org/W2105229687","https://openalex.org/W2112474089","https://openalex.org/W2113260111","https://openalex.org/W2115208277","https://openalex.org/W2117155277","https://openalex.org/W2119088038","https://openalex.org/W2126837612","https://openalex.org/W2134454943","https://openalex.org/W2135929901","https://openalex.org/W2140403608","https://openalex.org/W2164032318","https://openalex.org/W2334433724"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2291700020","https://openalex.org/W4386128912"],"abstract_inverted_index":{"This":[0],"paper":[1],"explores":[2],"inverse":[3,82,91],"kinematics":[4,83],"for":[5,40],"full":[6,88],"body,":[7],"floating":[8,33,80],"base,":[9,34],"task":[10,42,56],"space":[11,43],"control":[12,44,77],"on":[13,54,66],"a":[14,51,55],"real":[15],"humanoid":[16,70],"robot.":[17,71],"We":[18,49,72],"discuss":[19],"how":[20],"constraints":[21],"can":[22],"be":[23],"used":[24],"to":[25,32,87],"address":[26],"the":[27,37,61,64,67],"issue":[28],"of":[29,45,63,75,98],"under-actuation":[30],"due":[31],"and":[35,59],"list":[36],"sufficient":[38],"conditions":[39],"maintaining":[41],"arbitrary":[46],"robot":[47],"tasks.":[48],"suggest":[50],"controller":[52],"based":[53],"priority":[57],"framework":[58],"demonstrate":[60,96],"feasibility":[62],"approach":[65,86],"SARCOS/ATR":[68],"CBi":[69],"implement":[73],"examples":[74,95],"position":[76,100],"via":[78],"constrained":[79],"base":[81],"as":[84,102,104],"first":[85],"body":[89],"model-based":[90],"dynamics":[92],"control.":[93],"The":[94],"center":[97],"gravity":[99],"tracking":[101,107],"well":[103],"hand":[105],"figure-8":[106],"while":[108],"simultaneously":[109],"balancing.":[110]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}
