{"id":"https://openalex.org/W2097419845","doi":"https://doi.org/10.1109/iros.2009.5354044","title":"Composing and coordinating body models of arbitrary connectivity and redundancy: A biomimmetic field computing approach","display_name":"Composing and coordinating body models of arbitrary connectivity and redundancy: A biomimmetic field computing approach","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2097419845","doi":"https://doi.org/10.1109/iros.2009.5354044","mag":"2097419845"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/A5072968269","display_name":"Vishwanathan Mohan","orcid":"https://orcid.org/0000-0001-5537-9503"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Vishwanathan Mohan","raw_affiliation_strings":["Cognitive Science Department (RBCS), Italian Institute of Technology, Genoa, Italy","Robotics, Brain and Cognitive Sciences Department (RBCS) of the Italian Institute of Technology (IIT), Via Morego 30, Genova, ITALY"],"affiliations":[{"raw_affiliation_string":"Cognitive Science Department (RBCS), Italian Institute of Technology, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Robotics, Brain and Cognitive Sciences Department (RBCS) of the Italian Institute of Technology (IIT), Via Morego 30, Genova, ITALY","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029482986","display_name":"Jacopo Zenzeri","orcid":"https://orcid.org/0000-0001-5536-1960"},"institutions":[{"id":"https://openalex.org/I83816512","display_name":"University of Genoa","ror":"https://ror.org/0107c5v14","country_code":"IT","type":"education","lineage":["https://openalex.org/I83816512"]},{"id":"https://openalex.org/I4210122162","display_name":"Opera Software (Norway)","ror":"https://ror.org/01zmty518","country_code":"NO","type":"company","lineage":["https://openalex.org/I4210122162"]}],"countries":["IT","NO"],"is_corresponding":false,"raw_author_name":"Jacopo Zenzeri","raw_affiliation_strings":["Department of Communication Computer and Systems Sciences (DIST), University of Genova, Genoa, Italy","Department of Communication Computer and System Sciences (DIST), University of Genova, Via Opera Pia 13, ITALY"],"affiliations":[{"raw_affiliation_string":"Department of Communication Computer and Systems Sciences (DIST), University of Genova, Genoa, Italy","institution_ids":["https://openalex.org/I83816512"]},{"raw_affiliation_string":"Department of Communication Computer and System Sciences (DIST), University of Genova, Via Opera Pia 13, ITALY","institution_ids":["https://openalex.org/I4210122162"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014258773","display_name":"Pietro Morasso","orcid":"https://orcid.org/0000-0002-3837-8004"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pietro Morasso","raw_affiliation_strings":["DIST RBCS IIT, University of Genova, Switzerland","DIST, University of Genova and RBCS, IIT, Italy"],"affiliations":[{"raw_affiliation_string":"DIST RBCS IIT, University of Genova, Switzerland","institution_ids":[]},{"raw_affiliation_string":"DIST, University of Genova and RBCS, IIT, Italy","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090032106","display_name":"Giorgio Metta","orcid":"https://orcid.org/0000-0003-0459-4769"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Giorgio Metta","raw_affiliation_strings":["DIST RBCS IIT, University of Genova, Switzerland","DIST, University of Genova and RBCS, IIT, Italy"],"affiliations":[{"raw_affiliation_string":"DIST RBCS IIT, University of Genova, Switzerland","institution_ids":[]},{"raw_affiliation_string":"DIST, University of Genova and RBCS, IIT, Italy","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5072968269"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.1365,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.51003077,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"5","issue":null,"first_page":"3537","last_page":"3542"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9980999827384949,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9922000169754028,"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/computer-science","display_name":"Computer science","score":0.6755737662315369},{"id":"https://openalex.org/keywords/icub","display_name":"iCub","score":0.5507699251174927},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.49172595143318176},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.4754854440689087},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.4437096416950226},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.389493465423584},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2720102071762085}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6755737662315369},{"id":"https://openalex.org/C111151474","wikidata":"https://www.wikidata.org/wiki/Q1653368","display_name":"iCub","level":4,"score":0.5507699251174927},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.49172595143318176},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.4754854440689087},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.4437096416950226},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.389493465423584},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2720102071762085},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354044","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354044","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 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/16","display_name":"Peace, Justice and strong institutions","score":0.8100000023841858}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1885639605","https://openalex.org/W1922715780","https://openalex.org/W1967694233","https://openalex.org/W2001605447","https://openalex.org/W2002445862","https://openalex.org/W2005731026","https://openalex.org/W2008137931","https://openalex.org/W2025180856","https://openalex.org/W2029428797","https://openalex.org/W2031376228","https://openalex.org/W2063503681","https://openalex.org/W2064527819","https://openalex.org/W2067440245","https://openalex.org/W2075705872","https://openalex.org/W2154284891","https://openalex.org/W2155339399","https://openalex.org/W2312241702","https://openalex.org/W2328685658","https://openalex.org/W4241253459"],"related_works":["https://openalex.org/W4301244418","https://openalex.org/W2789446524","https://openalex.org/W2963178506","https://openalex.org/W2130280438","https://openalex.org/W3123424924","https://openalex.org/W1997666700","https://openalex.org/W2915059514","https://openalex.org/W2570508284","https://openalex.org/W2198321481","https://openalex.org/W2963637864"],"abstract_inverted_index":{"The":[0,92,121],"subjective":[1],"ease":[2],"with":[3,178,208],"which":[4],"we":[5,46],"move":[6],"gracefully":[7],"in":[8],"constraint":[9],"filled":[10],"uncertain":[11],"environments":[12],"often":[13],"masks":[14],"the":[15,25,48,62,81,84,124,147,150,179,186,189,194,201,205,209],"enormously":[16],"complex":[17],"integrative":[18],"apparatus":[19],"needed":[20],"to":[21,37,80,119],"spell":[22],"synergy":[23],"among":[24],"thousands":[26],"of":[27,51,61,64,68,76,83,87,101,104,112,123,132,149,162,164,188,191,200,211],"sensors,":[28],"joints,":[29],"musculo-skeletal":[30],"units":[31],"and":[32,41,59,110,155,181],"neuronal":[33],"populations":[34],"that":[35,107,143,170],"contribute":[36],"any":[38],"act's":[39],"planning":[40],"execution.":[42],"In":[43],"this":[44],"paper,":[45],"apply":[47],"computational":[49,206],"framework":[50],"passive":[52],"motion":[53],"paradigm":[54],"for":[55],"task":[56,174,184],"specific":[57],"composition":[58],"coordination":[60],"movements":[63,210],"a":[65,102,139,159,167,172,176,182],"limb,":[66],"network":[67,118],"limbs":[69],"(e.g.":[70],"left":[71],"arm-waist-right":[72],"arm)":[73],"or":[74],"networks":[75],"external":[77],"objects":[78],"coupled":[79],"body":[82,134],"53":[85],"degrees":[86,163],"freedom":[88,165],"humanoid":[89],"robot":[90],"`iCub'.":[91],"basic":[93],"PMP":[94],"model":[95,207],"is":[96,127],"further":[97,128],"extended":[98],"by":[99,204],"formulation":[100],"pair":[103],"branching":[105],"nodes":[106],"allow":[108],"compositionality":[109],"transfer":[111],"force":[113],"fields":[114],"from":[115,138],"one":[116],"relaxation":[117],"another.":[120],"generality":[122],"proposed":[125],"approach":[126],"illustrated":[129],"using":[130],"simulations":[131],"whole":[133],"reaching":[135],"(WBR)":[136],"tasks":[137,217],"quiet":[140],"standing":[141],"posture":[142],"recruits":[144],"virtually":[145],"all":[146],"joints":[148],"upper":[151],"limbs,":[152,154],"lower":[153],"trunk,":[156],"binding":[157],"together":[158],"large":[160],"number":[161],"into":[166],"functional":[168],"unit":[169],"combines":[171],"focal":[173],"(reaching":[175],"target":[177],"hand)":[180],"postural":[183],"(keeping":[185],"projection":[187],"center":[190],"mass":[192],"within":[193],"bipedal":[195],"support":[196],"area).":[197],"Preliminary":[198],"comparisons":[199],"solutions":[202],"generated":[203],"human":[212],"subjects":[213],"performing":[214],"similar":[215],"WBR":[216],"are":[218],"presented.":[219]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}