{"id":"https://openalex.org/W2169791696","doi":"https://doi.org/10.1109/ichr.2010.5686836","title":"Generation of dynamic multi-contact motions: 2D case studies","display_name":"Generation of dynamic multi-contact motions: 2D case studies","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2169791696","doi":"https://doi.org/10.1109/ichr.2010.5686836","mag":"2169791696"},"language":"en","primary_location":{"id":"doi:10.1109/ichr.2010.5686836","is_oa":false,"landing_page_url":"http://doi.org/10.1109/ichr.2010.5686836","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-00781554","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077732072","display_name":"S\u00e9bastien Lengagne","orcid":"https://orcid.org/0000-0002-1831-1072"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Sebastien Lengagne","raw_affiliation_strings":["CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008750879","display_name":"Paul Mathieu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paul Mathieu","raw_affiliation_strings":["CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067136188","display_name":"Abderrahmane Kheddar","orcid":"https://orcid.org/0000-0001-9033-9742"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Abderrahmane Kheddar","raw_affiliation_strings":["CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan"],"affiliations":[{"raw_affiliation_string":"CNRSAIST, Joint Robotics Laboratory (JRL), UMI3218/CRT, Tsukuba, Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5077732072"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.231,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.89564782,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"35","issue":null,"first_page":"14","last_page":"20"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9983000159263611,"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":0.5625032186508179}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5625032186508179}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/ichr.2010.5686836","is_oa":false,"landing_page_url":"http://doi.org/10.1109/ichr.2010.5686836","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:CiteSeerX.psu:10.1.1.684.9984","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.684.9984","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554/document/","raw_type":"text"},{"id":"pmh:oai:HAL:lirmm-00781554v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554","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.014-020, &#x27E8;10.1109/ICHR.2010.5686836&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:lirmm-00781554v1","is_oa":true,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00781554","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.014-020, &#x27E8;10.1109/ICHR.2010.5686836&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[{"score":0.800000011920929,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1508300292","https://openalex.org/W1986014633","https://openalex.org/W1994275787","https://openalex.org/W2001981441","https://openalex.org/W2036484113","https://openalex.org/W2075887074","https://openalex.org/W2087103175","https://openalex.org/W2102884619","https://openalex.org/W2104479525","https://openalex.org/W2112405625","https://openalex.org/W2119881003","https://openalex.org/W2123871098","https://openalex.org/W2125098583","https://openalex.org/W2133859362","https://openalex.org/W2149527912","https://openalex.org/W2151845580","https://openalex.org/W2165739402","https://openalex.org/W2166756487","https://openalex.org/W4205551384","https://openalex.org/W6630414479","https://openalex.org/W6678295908","https://openalex.org/W6682158095"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W2358668433","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W2382290278","https://openalex.org/W2350741829","https://openalex.org/W2130043461","https://openalex.org/W2530322880"],"abstract_inverted_index":{"HAL":[0],"is":[1],"a":[2,51,100,115,129,132],"multi-disciplinary":[3],"open":[4],"access":[5],"archive":[6],"for":[7,110],"the":[8,135,138,145,153,157,161,166,187,193],"deposit":[9],"and":[10,28,93,143,156],"dissemination":[11],"of":[12,80,117,137,144,186,195],"sci-entific":[13],"research":[14,29,40],"documents,":[15],"whether":[16],"they":[17],"are":[18],"pub-lished":[19],"or":[20,33,35,38,131],"not.":[21],"The":[22,181],"documents":[23,56],"may":[24],"come":[25],"from":[26,36,160],"teaching":[27],"institutions":[30],"in":[31],"France":[32],"abroad,":[34],"public":[37],"private":[39],"centers.":[41],"L\u2019archive":[42],"ouverte":[43],"pluridisciplinaire":[44],"HAL,":[45],"est":[46],"destine\u0301e":[47],"au":[48],"de\u0301po\u0302t":[49],"et":[50,68],"\u0300":[52],"la":[53],"diffusion":[54],"de":[55,58,69],"scientifiques":[57],"niveau":[59],"recherche,":[60],"publie\u0301s":[61],"ou":[62,72,77],"non,":[63],"e\u0301manant":[64],"des":[65,74],"e\u0301tablissements":[66],"d\u2019enseignement":[67],"recherche":[70],"franc\u0327ais":[71],"e\u0301trangers,":[73],"laboratoires":[75],"publics":[76],"prive\u0301s.":[78],"Generation":[79],"Dynamic":[81],"Multi-Contact":[82],"Motions:":[83],"2D":[84,179],"case":[85],"studies":[86],"Se\u0301bastien":[87],"Lengagne,":[88],"Paul":[89],"Mathieu,":[90],"Abderrahmane":[91],"Kheddar":[92],"Eiichi":[94],"Yoshida":[95],"Abstract":[96],"\u2014":[97,200],"We":[98,120,169],"present":[99],"multi-contact":[101,133,176,203],"motion":[102,189],"planning":[103,190],"method":[104,172],"that":[105,113],"generates":[106],"dynamic":[107,205],"joint":[108,162],"trajectories":[109,163],"multi-body":[111],"robots":[112],"satisfy":[114],"set":[116],"continuous":[118,139],"constraints.":[119],"highlight":[121],"two":[122],"variants":[123],"when":[124],"it":[125],"comes":[126],"to":[127],"generate":[128],"single-contact":[130,188],"motion:":[134],"presence":[136],"equality":[140],"geometrical":[141],"constraints":[142],"contact":[146,158,207],"forces.":[147,208],"In":[148],"this":[149],"work,":[150],"we":[151],"compute":[152],"free-flyer":[154],"trajectory":[155],"forces":[159],"provided":[164],"by":[165],"optimization":[167],"process.":[168],"assess":[170],"our":[171,196],"on":[173],"three":[174],"dynamical":[175],"motions":[177],"with":[178,183],"models.":[180],"comparison":[182],"intuitive":[184],"adaptations":[185],"methods":[191],"shows":[192],"effectiveness":[194],"method.":[197],"Index":[198],"Terms":[199],"Continuous":[201],"constraint,":[202],"motion,":[204,206]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
