{"id":"https://openalex.org/W2118320757","doi":"https://doi.org/10.1109/iros.2003.1248880","title":"Resolved momentum control: humanoid motion planning based on the linear and angular momentum","display_name":"Resolved momentum control: humanoid motion planning based on the linear and angular momentum","publication_year":2004,"publication_date":"2004-04-23","ids":{"openalex":"https://openalex.org/W2118320757","doi":"https://doi.org/10.1109/iros.2003.1248880","mag":"2118320757"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2003.1248880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1248880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","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/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":"S. Kajita","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","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":"F. Kanehiro","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","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":"K. Kaneko","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","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":"K. Fujiwara","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"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":"K. Harada","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057476470","display_name":"Kazuhito Yokoi","orcid":"https://orcid.org/0000-0003-3942-2027"},"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":"K. Yokoi","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","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":"H. Hirukawa","raw_affiliation_strings":["National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","AIST, Ibaraki Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST, Ibaraki Japan#TAB#","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":463,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"2","issue":null,"first_page":"1644","last_page":"1650"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9944999814033508,"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":0.9789000153541565,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9139794111251831},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.7467128038406372},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.5217455625534058},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.49074065685272217},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4883120059967041},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.48604899644851685},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48152169585227966},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.4479823708534241},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4233185648918152},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4217590391635895},{"id":"https://openalex.org/keywords/total-angular-momentum-quantum-number","display_name":"Total angular momentum quantum number","score":0.41681358218193054},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4082532823085785},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2497560679912567},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1442159116268158}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9139794111251831},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.7467128038406372},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.5217455625534058},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.49074065685272217},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4883120059967041},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.48604899644851685},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48152169585227966},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.4479823708534241},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4233185648918152},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4217590391635895},{"id":"https://openalex.org/C45193367","wikidata":"https://www.wikidata.org/wiki/Q1141095","display_name":"Total angular momentum quantum number","level":3,"score":0.41681358218193054},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4082532823085785},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2497560679912567},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1442159116268158},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2003.1248880","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2003.1248880","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.7200000286102295}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1581095231","https://openalex.org/W1929008949","https://openalex.org/W2105229687","https://openalex.org/W2109823348","https://openalex.org/W2122369027","https://openalex.org/W2137300190","https://openalex.org/W2138136244","https://openalex.org/W2142992961","https://openalex.org/W2144834630","https://openalex.org/W2147299197","https://openalex.org/W2158678516","https://openalex.org/W2159593326","https://openalex.org/W4231145937","https://openalex.org/W6680585183","https://openalex.org/W6683827756"],"related_works":["https://openalex.org/W2356869148","https://openalex.org/W4234675530","https://openalex.org/W2769690660","https://openalex.org/W4248922453","https://openalex.org/W2151817976","https://openalex.org/W1555845488","https://openalex.org/W1551964398","https://openalex.org/W2159460290","https://openalex.org/W2034846584","https://openalex.org/W569703162"],"abstract_inverted_index":{"We":[0],"introduce":[1],"a":[2,10,26,35,66,72,103],"method":[3],"to":[4,31,106],"generate":[5,107],"whole":[6,60],"body":[7,61],"motion":[8,62],"of":[9,34,74,110],"humanoid":[11,92,111],"robot":[12,36,93],"such":[13],"that":[14],"the":[15,41,46,51,54,75,82,90,97],"resulted":[16],"total":[17,32],"linear/angular":[18],"momenta":[19],"become":[20],"specified":[21],"values.":[22],"First,":[23],"we":[24,80],"derive":[25],"linear":[27],"equation,":[28],"which":[29],"gives":[30,101],"momentum":[33,68,99],"from":[37,65],"its":[38],"physical":[39],"parameters,":[40],"base":[42],"link":[43],"speed":[44],"and":[45,53,84,87],"joint":[47],"speeds.":[48],"Constraints":[49],"between":[50],"legs":[52],"environment":[55],"are":[56],"also":[57],"considered.":[58],"The":[59],"is":[63],"calculated":[64],"given":[67],"reference":[69],"by":[70],"using":[71],"pseudo-inverse":[73],"inertia":[76],"matrix.":[77],"As":[78],"examples,":[79],"generated":[81],"kicking":[83],"walking":[85],"motions":[86],"tested":[88],"on":[89],"actual":[91],"HRP-2.":[94],"This":[95],"method,":[96],"resolved":[98],"control,":[100],"us":[102],"unified":[104],"framework":[105],"various":[108],"maneuvers":[109],"robots.":[112]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":18},{"year":2020,"cited_by_count":18},{"year":2019,"cited_by_count":19},{"year":2018,"cited_by_count":30},{"year":2017,"cited_by_count":28},{"year":2016,"cited_by_count":21},{"year":2015,"cited_by_count":20},{"year":2014,"cited_by_count":20},{"year":2013,"cited_by_count":25},{"year":2012,"cited_by_count":29}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
