{"id":"https://openalex.org/W2109192147","doi":"https://doi.org/10.1109/iros.2007.4399212","title":"Pivoting based manipulation by humanoids: a controllability analysis","display_name":"Pivoting based manipulation by humanoids: a controllability analysis","publication_year":2007,"publication_date":"2007-10-01","ids":{"openalex":"https://openalex.org/W2109192147","doi":"https://doi.org/10.1109/iros.2007.4399212","mag":"2109192147"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2007.4399212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399212","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","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/A5080826821","display_name":"Eiichi Yoshida","orcid":"https://orcid.org/0000-0002-3077-6964"},"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":true,"raw_author_name":"Eiichi Yoshida","raw_affiliation_strings":["JARL, Research Institute of Intelligent Systems, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba"],"affiliations":[{"raw_affiliation_string":"JARL, Research Institute of Intelligent Systems, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008576544","display_name":"Mathieu Poirier","orcid":"https://orcid.org/0000-0002-7049-6633"},"institutions":[{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Mathieu Poirier","raw_affiliation_strings":["JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108497455","display_name":"Jean\u2010Paul Laumond","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Paul Laumond","raw_affiliation_strings":["JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063091956","display_name":"Rachid Alami","orcid":"https://orcid.org/0000-0002-9558-8163"},"institutions":[{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I134560555","display_name":"Universit\u00e9 Toulouse III - Paul Sabatier","ror":"https://ror.org/02v6kpv12","country_code":"FR","type":"education","lineage":["https://openalex.org/I134560555","https://openalex.org/I4405258862"]},{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I134560555","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Rachid Alami","raw_affiliation_strings":["JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France"],"affiliations":[{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse III, Toulouse, France","institution_ids":["https://openalex.org/I134560555","https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]},{"raw_affiliation_string":"JRL, LAAS-CNRS, University of Toulouse, 7 avenue du Colonel Roche 31077, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590","https://openalex.org/I190497903"]}]},{"author_position":"last","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":"Kazuhito Yokoi","raw_affiliation_strings":["JARL, Research Institute of Intelligent Systems, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","JRL, Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan"],"affiliations":[{"raw_affiliation_string":"JARL, Research Institute of Intelligent Systems, National Institute for Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"JRL, Research Institute of Intelligent Systems, National Institute of Advanced Industrial Science and Technology (AIST), 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568 Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5080826821"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":1.3479,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.81648195,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1130","last_page":"1135"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9990000128746033,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9965000152587891,"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/controllability","display_name":"Controllability","score":0.8279715180397034},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7216504812240601},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6716487407684326},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.6495078206062317},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.6481245160102844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5490511059761047},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5198667049407959},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5053870677947998},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47747206687927246},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4750918447971344},{"id":"https://openalex.org/keywords/configuration-space","display_name":"Configuration space","score":0.47245195508003235},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.46103930473327637},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4425823986530304},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4056609570980072},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39158564805984497},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.30272918939590454},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.190110981464386},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1663818359375},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07377362251281738},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06928911805152893}],"concepts":[{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.8279715180397034},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7216504812240601},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6716487407684326},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.6495078206062317},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.6481245160102844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5490511059761047},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5198667049407959},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5053870677947998},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47747206687927246},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4750918447971344},{"id":"https://openalex.org/C90738871","wikidata":"https://www.wikidata.org/wiki/Q41642869","display_name":"Configuration space","level":2,"score":0.47245195508003235},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.46103930473327637},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4425823986530304},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4056609570980072},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39158564805984497},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.30272918939590454},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.190110981464386},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1663818359375},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07377362251281738},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06928911805152893},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/iros.2007.4399212","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2007.4399212","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2007 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.709.9081","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.709.9081","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://staff.aist.go.jp/e.yoshida/papers/iros2007-pivot-final.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:hal-01972683v1","is_oa":false,"landing_page_url":"https://laas.hal.science/hal-01972683","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 2007, San Diego, United States. &#x27E8;10.1109/IROS.2007.4399212&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4399999976158142,"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":23,"referenced_works":["https://openalex.org/W101508493","https://openalex.org/W1424654272","https://openalex.org/W1521785144","https://openalex.org/W1553616171","https://openalex.org/W1633338931","https://openalex.org/W1971998222","https://openalex.org/W2000405511","https://openalex.org/W2001040169","https://openalex.org/W2044995998","https://openalex.org/W2048223041","https://openalex.org/W2050708324","https://openalex.org/W2101593129","https://openalex.org/W2105353029","https://openalex.org/W2113755254","https://openalex.org/W2128990851","https://openalex.org/W2129787803","https://openalex.org/W2154429483","https://openalex.org/W2611243847","https://openalex.org/W3104753760","https://openalex.org/W3188953039","https://openalex.org/W4242811155","https://openalex.org/W6799235307","https://openalex.org/W7070221111"],"related_works":["https://openalex.org/W2005695917","https://openalex.org/W2135584875","https://openalex.org/W2383775285","https://openalex.org/W2333571655","https://openalex.org/W3004930912","https://openalex.org/W2104320275","https://openalex.org/W2111158727","https://openalex.org/W1980488552","https://openalex.org/W1510039162","https://openalex.org/W2112736381"],"abstract_inverted_index":{"Pivoting":[0],"manipulation":[1,90],"has":[2,133],"such":[3,41],"advantages":[4],"as":[5],"dexterity":[6],"and":[7,35,114],"safety":[8],"over":[9],"other":[10],"methods":[11],"to":[12,23,32,87,92],"move":[13],"bulky":[14],"or":[15],"heavy":[16],"objects.":[17],"In":[18],"this":[19,80],"paper":[20],"we":[21,50,82,100,116,142],"aim":[22],"show":[24,51],"that":[25,49,107,118],"a":[26,38,42,62,67,77,84,89,96,102,121],"polyhedral":[27],"object":[28],"can":[29],"be":[30,93],"displaced":[31],"arbitrary":[33],"position":[34],"orientation":[36],"on":[37],"plane":[39],"(i.e.":[40],"pivoting":[43,124,131],"system":[44],"is":[45,53],"controllable).":[46],"More":[47],"than":[48],"it":[52],"small":[54],"time":[55],"controllable,":[56],"i.e.":[57],"the":[58,73,110,127,138,145,150],"reachable":[59],"space":[60],"from":[61],"starting":[63],"point":[64],"contains":[65],"always":[66],"neighbor":[68],"no":[69],"matter":[70],"how":[71],"cluttered":[72],"environment":[74],"is.":[75],"As":[76],"consequence":[78],"of":[79,123,129,149],"analysis,":[81],"propose":[83],"steering":[85,155],"method":[86],"plan":[88],"path":[91,105,119],"performed":[94],"by":[95,137,153],"humanoid":[97,139],"robot:":[98],"first":[99,147],"use":[101],"classical":[103],"nonholonomic":[104],"planner":[106],"accounts":[108],"for":[109],"robot":[111,140],"motion":[112],"constraints,":[113],"then":[115],"transform":[117],"into":[120],"sequence":[122],"operations.":[125],"While":[126],"feasibility":[128],"elementary":[130],"tasks":[132],"been":[134],"already":[135],"experienced":[136],"HRP-2,":[141],"present":[143],"here":[144],"very":[146],"simulations":[148],"plans":[151],"generated":[152],"our":[154],"method.":[156]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}
