{"id":"https://openalex.org/W2097506912","doi":"https://doi.org/10.1109/iros.2008.4650680","title":"Motion control of a virtual humanoid that can perform real physical interactions with a human","display_name":"Motion control of a virtual humanoid that can perform real physical interactions with a human","publication_year":2008,"publication_date":"2008-09-01","ids":{"openalex":"https://openalex.org/W2097506912","doi":"https://doi.org/10.1109/iros.2008.4650680","mag":"2097506912"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2008.4650680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 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/A5062321775","display_name":"Ken Nagasaka","orcid":"https://orcid.org/0000-0002-0923-6269"},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]},{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP","TW"],"is_corresponding":true,"raw_author_name":"K. Nagasaka","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038260027","display_name":"Ayaho Miyamoto","orcid":"https://orcid.org/0000-0001-7714-2451"},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]},{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP","TW"],"is_corresponding":false,"raw_author_name":"A. Miyamoto","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090188261","display_name":"Masanori Nagano","orcid":null},"institutions":[{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]},{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]}],"countries":["JP","TW"],"is_corresponding":false,"raw_author_name":"M. Nagano","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002455634","display_name":"Hirokazu Shirado","orcid":"https://orcid.org/0000-0003-4545-7859"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["JP","TW"],"is_corresponding":false,"raw_author_name":"H. Shirado","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014114206","display_name":"Tetsuharu Fukushima","orcid":null},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["JP","TW"],"is_corresponding":false,"raw_author_name":"T. Fukushima","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084115884","display_name":"Masahiro Fujita","orcid":"https://orcid.org/0000-0002-0642-5099"},"institutions":[{"id":"https://openalex.org/I4210122684","display_name":"Sony Computer Science Laboratories","ror":"https://ror.org/02nc46417","country_code":"JP","type":"facility","lineage":["https://openalex.org/I4210122684"]},{"id":"https://openalex.org/I1304132090","display_name":"Sony (Taiwan)","ror":"https://ror.org/0214y7014","country_code":"TW","type":"company","lineage":["https://openalex.org/I1304132090","https://openalex.org/I4210143797"]}],"countries":["JP","TW"],"is_corresponding":false,"raw_author_name":"M. Fujita","raw_affiliation_strings":["Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo"],"affiliations":[{"raw_affiliation_string":"Department of Intelligent Systems Research Laboratory, System Technologies Laboratories, Sony Corporation, Shinagawa, Tokyo, Japan","institution_ids":["https://openalex.org/I4210122684"]},{"raw_affiliation_string":"Dept. of Intell. Syst. Res. Lab., Sony Corp., Tokyo","institution_ids":["https://openalex.org/I1304132090"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5062321775"],"corresponding_institution_ids":["https://openalex.org/I1304132090","https://openalex.org/I4210122684"],"apc_list":null,"apc_paid":null,"fwci":0.8225,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.78899838,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"2303","last_page":"2310"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9995999932289124,"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/T12290","display_name":"Human Motion and Animation","score":0.9988999962806702,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.7075821161270142},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.6828778386116028},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6232413649559021},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.5853022933006287},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5808928608894348},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45355895161628723},{"id":"https://openalex.org/keywords/virtual-reality","display_name":"Virtual reality","score":0.41088277101516724},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40562647581100464},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40239235758781433},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3274343013763428},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2801961302757263},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18230408430099487},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.13589692115783691},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09095972776412964}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7075821161270142},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.6828778386116028},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6232413649559021},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.5853022933006287},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5808928608894348},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45355895161628723},{"id":"https://openalex.org/C194969405","wikidata":"https://www.wikidata.org/wiki/Q170519","display_name":"Virtual reality","level":2,"score":0.41088277101516724},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40562647581100464},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40239235758781433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3274343013763428},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2801961302757263},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18230408430099487},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.13589692115783691},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09095972776412964},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2008.4650680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2008.4650680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2008 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","score":0.6000000238418579,"display_name":"Reduced inequalities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W149142502","https://openalex.org/W639693478","https://openalex.org/W1578793200","https://openalex.org/W1599808607","https://openalex.org/W1939926247","https://openalex.org/W1971175227","https://openalex.org/W2000151369","https://openalex.org/W2036484113","https://openalex.org/W2043878167","https://openalex.org/W2063623822","https://openalex.org/W2086587468","https://openalex.org/W2104479525","https://openalex.org/W2106286182","https://openalex.org/W2108714391","https://openalex.org/W2112474089","https://openalex.org/W2112733118","https://openalex.org/W2117085697","https://openalex.org/W2118320757","https://openalex.org/W2131067211","https://openalex.org/W2133859362","https://openalex.org/W2135929901","https://openalex.org/W2148837198","https://openalex.org/W2164288353","https://openalex.org/W2165524167","https://openalex.org/W2168377523","https://openalex.org/W2234650683","https://openalex.org/W2293545866","https://openalex.org/W2321896402","https://openalex.org/W2330988565","https://openalex.org/W2948315098","https://openalex.org/W4246555273","https://openalex.org/W6677277662","https://openalex.org/W6682315790","https://openalex.org/W6684180196","https://openalex.org/W7065749197"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2745063183","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W4233260495","https://openalex.org/W1989694608","https://openalex.org/W2348224808","https://openalex.org/W4309505616","https://openalex.org/W1532965292","https://openalex.org/W2541058374"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,12,20,28,49,65,87,103],"multi-objective,":[4],"highly":[5],"generalized":[6,29,50],"and":[7,43,63,75,94],"efficient":[8],"control":[9],"framework":[10,25],"for":[11,69],"virtual":[13,88],"character":[14],"performing":[15],"various":[16,54,84],"physical":[17],"interactions":[18,85],"in":[19,53,99],"dynamically":[21],"simulated":[22],"world.":[23],"The":[24],"comprises":[26],"1)":[27],"inverse":[30],"dynamics":[31],"that":[32],"determines":[33],"joint":[34],"forces":[35],"satisfying":[36],"multiple":[37],"objectives":[38],"considering":[39],"priorities,":[40],"unactuated":[41],"joints":[42],"inequality":[44],"constraints":[45],"about":[46],"contacts,":[47],"2)":[48],"stabilizer":[51],"available":[52],"contact":[55],"situations":[56],"based":[57],"on":[58],"the":[59,81,107],"long-term":[60],"momentum":[61],"stabilization":[62],"3)":[64],"motion":[66,77],"primitive":[67],"network":[68],"realizing":[70],"composite":[71],"motions":[72],"by":[73],"modularizing":[74],"interconnecting":[76],"functions.":[78],"By":[79],"applying":[80],"proposed":[82],"framework,":[83],"with":[86,102],"humanoid,":[89],"such":[90],"as":[91],"basic":[92],"reflections":[93],"carrying":[95],"objects,":[96],"are":[97],"realized":[98],"real":[100],"time":[101],"tactile":[104],"sensation":[105],"through":[106],"two-armed":[108],"multi-fingered":[109],"haptic":[110],"device":[111],"we":[112],"developed.":[113]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
