{"id":"https://openalex.org/W2033953397","doi":"https://doi.org/10.1109/iros.2005.1545058","title":"Generation of humanoid robot motions with physical constraints using hierarchical B-spline","display_name":"Generation of humanoid robot motions with physical constraints using hierarchical B-spline","publication_year":2005,"publication_date":"2005-01-01","ids":{"openalex":"https://openalex.org/W2033953397","doi":"https://doi.org/10.1109/iros.2005.1545058","mag":"2033953397"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2005.1545058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5020964649","display_name":"Miti Ruchanurucks","orcid":"https://orcid.org/0000-0002-5180-6659"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"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":"M. Ruchanurucks","raw_affiliation_strings":["Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","Inst. of Ind. Sci., Tokyo Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]},{"raw_affiliation_string":"Inst. of Ind. Sci., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012117970","display_name":"Shin\u2019ichiro Nakaoka","orcid":"https://orcid.org/0000-0002-2346-1251"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"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":"S. Nakaoka","raw_affiliation_strings":["Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","Inst. of Ind. Sci., Tokyo Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]},{"raw_affiliation_string":"Inst. of Ind. Sci., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074857320","display_name":"Satoshi Kudoh","orcid":"https://orcid.org/0000-0001-7118-1628"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"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":"S. Kudoh","raw_affiliation_strings":["Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","Inst. of Ind. Sci., Tokyo Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]},{"raw_affiliation_string":"Inst. of Ind. Sci., Tokyo Univ., Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016258462","display_name":"Katsushi Ikeuchi","orcid":"https://orcid.org/0000-0001-9758-9357"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"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":"K. Ikeuchi","raw_affiliation_strings":["Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","Inst. of Ind. Sci., Tokyo Univ., Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Industrial Science, University of Tokyo, Komaba, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974","https://openalex.org/I161296585"]},{"raw_affiliation_string":"Inst. of Ind. Sci., Tokyo Univ., Japan","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1869","last_page":"1874"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9993000030517578,"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/T12290","display_name":"Human Motion and Animation","score":0.9991999864578247,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9672999978065491,"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":0.6534522175788879},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5386156439781189},{"id":"https://openalex.org/keywords/spline","display_name":"Spline (mechanical)","score":0.5125207901000977},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49785685539245605},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3908138573169708},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.37754160165786743},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3485596179962158},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.33506184816360474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14773112535476685},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10060307383537292}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6534522175788879},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5386156439781189},{"id":"https://openalex.org/C10390562","wikidata":"https://www.wikidata.org/wiki/Q581809","display_name":"Spline (mechanical)","level":2,"score":0.5125207901000977},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49785685539245605},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3908138573169708},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.37754160165786743},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3485596179962158},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.33506184816360474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14773112535476685},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10060307383537292},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2005.1545058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2005.1545058","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2005 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320311508","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1489213177","https://openalex.org/W1494650646","https://openalex.org/W1874049655","https://openalex.org/W1970552420","https://openalex.org/W2017913224","https://openalex.org/W2109026728","https://openalex.org/W2109140964","https://openalex.org/W2111743195","https://openalex.org/W2137267908","https://openalex.org/W2142132924","https://openalex.org/W2147781009","https://openalex.org/W2166162370","https://openalex.org/W2315653076","https://openalex.org/W3005363104","https://openalex.org/W6650575149"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2026275902","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"From":[0],"recorded":[1],"human":[2],"motion,":[3,30],"trajectory":[4,147],"optimization":[5],"of":[6,27,42,45,82,102,154],"a":[7,76,116,164,171],"humanoid":[8,47],"robot":[9,188],"with":[10,149],"physical":[11],"limits":[12,65],"being":[13,67],"the":[14,24,28,37,40,43,46,187],"key":[15],"constraint":[16],"is":[17,50,86,90,113,131,163,175],"presented.":[18,177],"The":[19,80],"optimization's":[20],"objective":[21,78],"function":[22],"preserves":[23],"salient":[25],"characteristics":[26],"original":[29],"while":[31],"constraints":[32,54],"are":[33,66],"used":[34],"to":[35,39,55,59,134],"transform":[36],"motion":[38,62,104],"limit":[41,56],"capabilities":[44],"robot.":[48],"It":[49,130],"shown":[51,91,132],"that":[52,64,92,119],"using":[53,75,182],"generated":[57],"trajectories":[58],"physically":[60],"realizable":[61],"ensures":[63],"met":[68],"more":[69],"precisely":[70],"than":[71],"by":[72,108],"reducing":[73],"them":[74],"standard":[77],"function.":[79],"use":[81,135],"wavelets":[83],"vs.":[84],"B-spline":[85,93,112,136,172],"compared,":[87],"and":[88,142,158,186],"it":[89],"data":[94],"representation":[95],"has":[96],"pronounced":[97],"advantages.":[98],"Furthermore,":[99],"in":[100,138,152],"regions":[101],"high-frequency":[103],"not":[105,161],"adequately":[106],"modeled":[107],"an":[109],"initial":[110],"splining,":[111],"extensible":[114],"into":[115],"hierarchy":[117],"so":[118],"optimizations":[120],"can":[121],"be":[122],"performed":[123],"locally":[124],"which":[125],"still":[126],"meet":[127],"global":[128],"criteria.":[129],"how":[133],"coefficients":[137],"angle-,":[139],"velocity-,":[140],"acceleration-,":[141],"dynamic":[143],"force-constraints.":[144],"To":[145],"detect":[146],"subsections":[148],"excessive":[150],"error":[151,166],"need":[153],"control":[155],"point":[156],"adjustment":[157],"local":[159],"re-optimization,":[160],"only":[162],"traditional":[165],"detector":[167,174],"used,":[168],"but":[169],"also":[170,176],"density":[173],"Generated":[178],"motions":[179],"were":[180],"tested":[181],"our":[183],"simulation":[184],"program":[185],"HRP-2.":[189]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}