{"id":"https://openalex.org/W2968620252","doi":"https://doi.org/10.1109/icra.2019.8793605","title":"Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid","display_name":"Resolved Viscoelasticity Control Considering Singularity for Knee-stretched Walking of a Humanoid","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2968620252","doi":"https://doi.org/10.1109/icra.2019.8793605","mag":"2968620252"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","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/A5045371996","display_name":"Kazuya Murotani","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Murotani","raw_affiliation_strings":["Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034562879","display_name":"Tianyi Ko","orcid":"https://orcid.org/0000-0002-2576-9161"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tianyi Ko","raw_affiliation_strings":["Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5040633710","display_name":"Yoshihiko Nakamura","orcid":"https://orcid.org/0000-0001-7162-5102"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoshihiko Nakamura","raw_affiliation_strings":["Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechano-informatics, Univ. of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"250","last_page":"255"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9994999766349792,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.993399977684021,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/viscoelasticity","display_name":"Viscoelasticity","score":0.672368049621582},{"id":"https://openalex.org/keywords/singularity","display_name":"Singularity","score":0.5935673713684082},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5569811463356018},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47691819071769714},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44927772879600525},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4316864311695099},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.36598408222198486},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2841781675815582},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.25468021631240845},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.23301944136619568},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19342350959777832},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.11571204662322998}],"concepts":[{"id":"https://openalex.org/C186541917","wikidata":"https://www.wikidata.org/wiki/Q910483","display_name":"Viscoelasticity","level":2,"score":0.672368049621582},{"id":"https://openalex.org/C16171025","wikidata":"https://www.wikidata.org/wiki/Q863349","display_name":"Singularity","level":2,"score":0.5935673713684082},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5569811463356018},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47691819071769714},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44927772879600525},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4316864311695099},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.36598408222198486},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2841781675815582},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.25468021631240845},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.23301944136619568},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19342350959777832},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.11571204662322998},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2019.8793605","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793605","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1939926247","https://openalex.org/W1973335962","https://openalex.org/W1996763811","https://openalex.org/W2015003349","https://openalex.org/W2029058516","https://openalex.org/W2036484113","https://openalex.org/W2042803738","https://openalex.org/W2044627378","https://openalex.org/W2072763216","https://openalex.org/W2099129715","https://openalex.org/W2101226662","https://openalex.org/W2110612452","https://openalex.org/W2112474089","https://openalex.org/W2118840382","https://openalex.org/W2125393905","https://openalex.org/W2131232094","https://openalex.org/W2138136244","https://openalex.org/W2138233825","https://openalex.org/W2161656571","https://openalex.org/W2163668399","https://openalex.org/W2170620126","https://openalex.org/W2206332757","https://openalex.org/W2461181622","https://openalex.org/W2582068294","https://openalex.org/W2602427680","https://openalex.org/W2737165520","https://openalex.org/W2737354099","https://openalex.org/W2911663758","https://openalex.org/W3145941942","https://openalex.org/W6684816303","https://openalex.org/W6735835358","https://openalex.org/W6741248953"],"related_works":["https://openalex.org/W4221057967","https://openalex.org/W2745063183","https://openalex.org/W4243019676","https://openalex.org/W2517352629","https://openalex.org/W2783562378","https://openalex.org/W4293192718","https://openalex.org/W2045876794","https://openalex.org/W4256317079","https://openalex.org/W2255703620","https://openalex.org/W2129850190"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"a":[3,8,36,93],"stable":[4,94],"knee-stretched":[5],"walking":[6],"of":[7,27,71,75],"humanoid":[9],"by":[10,43],"the":[11,25,44,50,56,72,76,86,90,99,105],"resolved":[12],"viscoelasticity":[13,29],"control":[14],"(RVC).":[15],"The":[16],"RVC":[17,45,73,87],"method":[18,46,88],"resolves":[19],"multiple":[20],"viscoelasticities":[21],"in":[22,47],"task-space,":[23],"including":[24],"center":[26],"mass":[28],"for":[30],"balancing,":[31],"into":[32],"joint-space":[33],"viscoelasticity.":[34],"Although":[35],"robust":[37],"and":[38,83,95,103],"compliant":[39],"motion":[40],"was":[41],"achieved":[42],"previous":[48],"studies,":[49],"conventional":[51],"knee-bent":[52],"posture":[53],"to":[54],"avoid":[55],"kinematic":[57,77],"singularity":[58,91],"suffered":[59],"large":[60],"knee":[61,100],"joint":[62,101],"torque.":[63],"In":[64],"this":[65],"study,":[66],"we":[67],"propose":[68],"an":[69],"extension":[70],"capable":[74],"singularity.":[78],"We":[79],"demonstrate":[80],"through":[81],"simulations":[82],"experiments":[84],"that":[85],"considering":[89],"achieves":[92],"human-like":[96],"walking,":[97],"reducing":[98],"torque":[102],"improving":[104],"energy":[106],"efficiency.":[107]},"counts_by_year":[{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
