{"id":"https://openalex.org/W2105366725","doi":"https://doi.org/10.1109/ichr.2010.5686317","title":"Static multi-contact inverse problem for multiple humanoid robots and manipulated objects","display_name":"Static multi-contact inverse problem for multiple humanoid robots and manipulated objects","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2105366725","doi":"https://doi.org/10.1109/ichr.2010.5686317","mag":"2105366725"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00776649","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5081311040","display_name":"Karim Bouyarmane","orcid":"https://orcid.org/0000-0003-4284-0561"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Karim Bouyarmane","raw_affiliation_strings":["CNRS JRL (Joint Robotics Lab) UMI3218, CRT, AIST, Tsukuba, Japan","CNRS-AIST JRL (Joint Robotics Lab) UMI3218/CRT, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS JRL (Joint Robotics Lab) UMI3218, CRT, AIST, Tsukuba, Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Lab) UMI3218/CRT, AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I1294671590"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRS JRL (Joint Robotics Lab) UMI3218, CRT, AIST, Tsukuba, Japan","CNRS-AIST JRL (Joint Robotics Lab) UMI3218/CRT, AIST, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRS JRL (Joint Robotics Lab) UMI3218, CRT, AIST, Tsukuba, Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Lab) UMI3218/CRT, AIST, Tsukuba, Japan","institution_ids":["https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5081311040"],"corresponding_institution_ids":["https://openalex.org/I1294671590"],"apc_list":null,"apc_paid":null,"fwci":2.3225,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.88100071,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8","last_page":"13"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9134865999221802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6996110677719116},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6527541279792786},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5356450080871582},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44881361722946167},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4215167164802551},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3604791760444641},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15786218643188477},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06107768416404724}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9134865999221802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6996110677719116},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6527541279792786},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5356450080871582},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44881361722946167},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4215167164802551},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3604791760444641},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15786218643188477},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06107768416404724}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/ichr.2010.5686317","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2010.5686317","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 10th IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-00776649v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00776649","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Humanoids, Dec 2010, Nashville, TN, United States. pp.008-013, ⟨10.1109/ICHR.2010.5686317⟩","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-00776649v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00776649","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Humanoids, Dec 2010, Nashville, TN, United States. pp.008-013, ⟨10.1109/ICHR.2010.5686317⟩","raw_type":"Conference papers"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1526823752","https://openalex.org/W1863997888","https://openalex.org/W1906034729","https://openalex.org/W2006010000","https://openalex.org/W2020742378","https://openalex.org/W2086838533","https://openalex.org/W2117155277","https://openalex.org/W2119881003","https://openalex.org/W2123871098","https://openalex.org/W2129734754","https://openalex.org/W2130469643","https://openalex.org/W2142468282","https://openalex.org/W2157085970","https://openalex.org/W2165739402","https://openalex.org/W2166162370","https://openalex.org/W2266380092","https://openalex.org/W2913428046","https://openalex.org/W2966015659","https://openalex.org/W6642712969","https://openalex.org/W6766636623"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2122369027","https://openalex.org/W1589423663"],"abstract_inverted_index":{"In":[0,45,88],"this":[1,170],"paper":[2,124],"we":[3,138],"solve":[4,71],"the":[5,31,36,43,73,78,89,93,96,104,123,127,130,134,140,156,159,162],"static-equilibrium":[6],"constrained":[7,113],"inverse":[8],"kinematics":[9],"problem":[10,131],"for":[11],"a":[12,23,143,149],"system":[13],"made":[14],"of":[15,25,30,35,42,106,122,129,158],"multiple":[16],"humanoid":[17],"robots":[18,94],"and":[19,39,77,95,108,165,185],"manipulated":[20,37,97],"objects":[21,98],"given":[22],"set":[24],"contacts":[26,48,52],"between":[27],"any":[28,33,40],"surfaces":[29,34,41],"robots,":[32],"objects,":[38],"environment.":[44],"particular,":[46],"inter-robots":[47],"are":[49,55,99,112],"possible.":[50],"The":[51,119],"considered":[53],"here":[54],"neither":[56],"necessarily":[57,60],"coplanar,":[58],"nor":[59],"horizontal,":[61],"frictional,":[62],"might":[63],"be":[64],"unilateral":[65],"(support)":[66],"or":[67],"bilateral":[68],"(grasp).":[69],"We":[70,168],"both":[72],"geometric":[74],"variables":[75,80],"(configurations)":[76],"statics":[79],"(contact":[81],"forces)":[82],"simultaneously":[83],"within":[84,116],"one":[85],"optimization":[86,135],"query.":[87],"resulting":[90],"configurations":[91],"all":[92],"in":[100],"static":[101],"equilibrium":[102],"under":[103],"action":[105],"gravity":[107],"actuator":[109],"torques":[110],"that":[111,146],"to":[114,154,172],"stay":[115],"their":[117,166],"bounds.":[118],"main":[120],"focus":[121],"is":[125],"on":[126,178],"formulation":[128],"rather":[132],"than":[133],"algorithm,":[136],"as":[137,142],"consider":[139],"latter":[141],"black":[144],"box":[145],"only":[147],"requires":[148],"mathematical":[150],"model":[151],"providing":[152],"algorithms":[153],"compute":[155],"values":[157],"objective":[160],"function,":[161],"constraints":[163],"functions,":[164],"derivatives.":[167],"apply":[169],"work":[171],"quasi-static":[173],"multi-contact":[174],"legged":[175],"locomotion":[176],"planning":[177],"irregular":[179],"terrain,":[180],"multi-fingered":[181],"dexterous":[182],"manipulation":[183,187],"planning,":[184],"collaborative":[186],"planning.":[188]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}