{"id":"https://openalex.org/W2133857227","doi":"https://doi.org/10.1109/ichr.2009.5379516","title":"Creating facial motions of Cybernetic Human HRP-4C","display_name":"Creating facial motions of Cybernetic Human HRP-4C","publication_year":2009,"publication_date":"2009-12-01","ids":{"openalex":"https://openalex.org/W2133857227","doi":"https://doi.org/10.1109/ichr.2009.5379516","mag":"2133857227"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2009.5379516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","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/A5114937735","display_name":"Shin'ichiro Nak","orcid":null},"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":true,"raw_author_name":"Shin'ichiro Nak","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"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":"Fumio Kanehiro","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109094932","display_name":"Kanako Miura","orcid":null},"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":"Kanako Miura","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"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":"Mitsuharu Morisawa","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111953627","display_name":"Kiyoshi Fujiwara","orcid":null},"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":"Kiyoshi Fujiwara","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"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":"Kenji Kaneko","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"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":"Shuuji Kajita","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001711571","display_name":"Hirohisa Hirukawa","orcid":null},"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":"Hirohisa Hirukawa","raw_affiliation_strings":["Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan"],"affiliations":[{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute for Advanced Industrial Science and Technology, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Faculty of Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5114937735"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":5.7809,"has_fulltext":false,"cited_by_count":46,"citation_normalized_percentile":{"value":0.96309277,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"561","last_page":"567"},"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/T10709","display_name":"Social Robot Interaction and HRI","score":0.9983000159263611,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9966999888420105,"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/computer-science","display_name":"Computer science","score":0.710902214050293},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7036208510398865},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6145555377006531},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5625916719436646},{"id":"https://openalex.org/keywords/face","display_name":"Face (sociological concept)","score":0.5611868500709534},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5380294919013977},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5215813517570496},{"id":"https://openalex.org/keywords/facial-muscles","display_name":"Facial muscles","score":0.5201390385627747},{"id":"https://openalex.org/keywords/computer-facial-animation","display_name":"Computer facial animation","score":0.4638737440109253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4344109296798706},{"id":"https://openalex.org/keywords/facial-expression","display_name":"Facial expression","score":0.4329320192337036},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3290576934814453},{"id":"https://openalex.org/keywords/computer-graphics","display_name":"Computer graphics (images)","score":0.2922705411911011},{"id":"https://openalex.org/keywords/animation","display_name":"Animation","score":0.2225918471813202},{"id":"https://openalex.org/keywords/computer-animation","display_name":"Computer animation","score":0.2090425193309784},{"id":"https://openalex.org/keywords/communication","display_name":"Communication","score":0.08290183544158936}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.710902214050293},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7036208510398865},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6145555377006531},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5625916719436646},{"id":"https://openalex.org/C2779304628","wikidata":"https://www.wikidata.org/wiki/Q3503480","display_name":"Face (sociological concept)","level":2,"score":0.5611868500709534},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5380294919013977},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5215813517570496},{"id":"https://openalex.org/C2780905192","wikidata":"https://www.wikidata.org/wiki/Q2341604","display_name":"Facial muscles","level":2,"score":0.5201390385627747},{"id":"https://openalex.org/C138591656","wikidata":"https://www.wikidata.org/wiki/Q5157538","display_name":"Computer facial animation","level":4,"score":0.4638737440109253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4344109296798706},{"id":"https://openalex.org/C195704467","wikidata":"https://www.wikidata.org/wiki/Q327968","display_name":"Facial expression","level":2,"score":0.4329320192337036},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3290576934814453},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.2922705411911011},{"id":"https://openalex.org/C502989409","wikidata":"https://www.wikidata.org/wiki/Q11425","display_name":"Animation","level":2,"score":0.2225918471813202},{"id":"https://openalex.org/C69369342","wikidata":"https://www.wikidata.org/wiki/Q1401416","display_name":"Computer animation","level":3,"score":0.2090425193309784},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.08290183544158936},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C36289849","wikidata":"https://www.wikidata.org/wiki/Q34749","display_name":"Social science","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ichr.2009.5379516","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2009.5379516","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 9th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Gender equality","score":0.4099999964237213,"id":"https://metadata.un.org/sdg/5"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W2000535285","https://openalex.org/W2004287364","https://openalex.org/W2033208083","https://openalex.org/W2046963364","https://openalex.org/W2096453912","https://openalex.org/W2108426047","https://openalex.org/W2122474428","https://openalex.org/W2129942529","https://openalex.org/W2161385114","https://openalex.org/W2166162370","https://openalex.org/W2166748902","https://openalex.org/W2170217103","https://openalex.org/W3114284325","https://openalex.org/W6683689679","https://openalex.org/W6788119825"],"related_works":["https://openalex.org/W3091878148","https://openalex.org/W1983127496","https://openalex.org/W2010638486","https://openalex.org/W2016890297","https://openalex.org/W2151042192","https://openalex.org/W2275074989","https://openalex.org/W2263241569","https://openalex.org/W1953056220","https://openalex.org/W2242043718","https://openalex.org/W1526814671"],"abstract_inverted_index":{"HRP-4C":[0],"is":[1,78],"our":[2],"novel":[3],"biped":[4,31],"humanoid":[5],"robot":[6,99],"whose":[7],"body":[8,28],"shape":[9],"and":[10,58,76,140],"face":[11,50,96],"appearance":[12],"are":[13],"quite":[14],"similar":[15],"to":[16,119,150],"those":[17],"of":[18,51,56,71,80,88,97,158],"female":[19],"humans.":[20],"It":[21],"can":[22],"make":[23,68,152],"not":[24],"only":[25],"various":[26,35],"whole":[27],"motions":[29,37,74,124,154],"including":[30,128],"locomotion":[32],"but":[33],"also":[34],"facial":[36,65,73,123,153],"using":[38,144],"eleven":[39],"axes":[40],"joints":[41],"inside":[42],"the":[43,49,53,59,72,81,85,89,95,101,111,137,156],"head.":[44],"This":[45,114],"paper":[46],"focuses":[47],"on":[48,106],"HRP-4C,":[52],"mechanical":[54],"structure":[55],"it":[57],"software":[60],"system":[61,92],"for":[62,84,155],"creating":[63],"its":[64],"motions.":[66],"To":[67],"creation":[69],"process":[70],"easy":[75],"efficient":[77],"one":[79],"important":[82],"technologies":[83],"practical":[86],"use":[87],"robot.":[90],"Our":[91],"allows":[93],"controlling":[94],"actual":[98],"from":[100],"graphical":[102],"user":[103],"interface":[104],"running":[105],"a":[107,117],"client":[108],"PC":[109],"with":[110,125,136],"high":[112],"responsiveness.":[113],"feature":[115],"enables":[116],"creator":[118],"efficiently":[120],"edit":[121,135],"detailed":[122],"powerful":[126],"functions":[127],"overdub":[129],"loop":[130],"edit,":[131],"key":[132],"pose":[133],"sequence":[134],"lip-sync":[138],"mode,":[139],"automatic":[141],"blinking.":[142],"By":[143],"this":[145],"system,":[146],"we":[147],"were":[148],"able":[149],"rapidly":[151],"demonstrations":[157],"HRP-4C.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":13}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
