{"id":"https://openalex.org/W2101282315","doi":"https://doi.org/10.1109/iros.2009.5354066","title":"Knowledge-based control of a humanoid robot","display_name":"Knowledge-based control of a humanoid robot","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2101282315","doi":"https://doi.org/10.1109/iros.2009.5354066","mag":"2101282315"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354066","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/A5056481909","display_name":"Dongkyu Choi","orcid":"https://orcid.org/0000-0001-8239-9825"},"institutions":[{"id":"https://openalex.org/I97018004","display_name":"Stanford University","ror":"https://ror.org/00f54p054","country_code":"US","type":"education","lineage":["https://openalex.org/I97018004"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Dongkyu Choi","raw_affiliation_strings":["Cognitive Systems Laboratory, Center for the Study of Language and Information, University of Stanford, Stanford, CA, USA","Cognitive Systems Laboratory, Center for the Study of Language and Information, Stanford University, CA 94305, USA"],"affiliations":[{"raw_affiliation_string":"Cognitive Systems Laboratory, Center for the Study of Language and Information, University of Stanford, Stanford, CA, USA","institution_ids":["https://openalex.org/I97018004"]},{"raw_affiliation_string":"Cognitive Systems Laboratory, Center for the Study of Language and Information, Stanford University, CA 94305, USA","institution_ids":["https://openalex.org/I97018004"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058423505","display_name":"Yeonsik Kang","orcid":"https://orcid.org/0000-0003-4667-3748"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yeonsik Kang","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100855761","display_name":"Heonyoung Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I118373667","display_name":"Seoul National University of Science and Technology","ror":"https://ror.org/00chfja07","country_code":"KR","type":"education","lineage":["https://openalex.org/I118373667"]},{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Heonyoung Lim","raw_affiliation_strings":["Robust Design Engineering Laboratory, Seoul National University, Seoul, South Korea","Robust Design Engineering Laboratory, Seoul National University, Korea"],"affiliations":[{"raw_affiliation_string":"Robust Design Engineering Laboratory, Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I118373667"]},{"raw_affiliation_string":"Robust Design Engineering Laboratory, Seoul National University, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102148147","display_name":"Bum-Jae You","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Bum-Jae You","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5056481909"],"corresponding_institution_ids":["https://openalex.org/I97018004"],"apc_list":null,"apc_paid":null,"fwci":2.6171,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.90762276,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3949","last_page":"3954"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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/T10906","display_name":"AI-based Problem Solving and Planning","score":0.9969000220298767,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.9779000282287598,"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/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9757999777793884,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"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":0.8198768496513367},{"id":"https://openalex.org/keywords/cognitive-architecture","display_name":"Cognitive architecture","score":0.7375070452690125},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.673734188079834},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6188240647315979},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.5528662204742432},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5418063402175903},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.5271437168121338},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5080161094665527},{"id":"https://openalex.org/keywords/cognition","display_name":"Cognition","score":0.5034837126731873},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48796457052230835},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.48707345128059387},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4779636561870575},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.27309268712997437},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.09120988845825195}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8198768496513367},{"id":"https://openalex.org/C20854674","wikidata":"https://www.wikidata.org/wiki/Q4386060","display_name":"Cognitive architecture","level":3,"score":0.7375070452690125},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.673734188079834},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6188240647315979},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.5528662204742432},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5418063402175903},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.5271437168121338},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5080161094665527},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.5034837126731873},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48796457052230835},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.48707345128059387},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4779636561870575},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27309268712997437},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.09120988845825195},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354066","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354066","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":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1966028617","https://openalex.org/W2021898394","https://openalex.org/W2050250868","https://openalex.org/W2073139963","https://openalex.org/W2088563966","https://openalex.org/W2099438934","https://openalex.org/W2099755684","https://openalex.org/W2100113987","https://openalex.org/W2132453167","https://openalex.org/W2145212268","https://openalex.org/W2159803848","https://openalex.org/W2160714875","https://openalex.org/W2162227979","https://openalex.org/W2162792036","https://openalex.org/W2181617391","https://openalex.org/W2188586909","https://openalex.org/W4242555830","https://openalex.org/W6675176298","https://openalex.org/W6683697997","https://openalex.org/W6686025448","https://openalex.org/W6687192151"],"related_works":["https://openalex.org/W2891970620","https://openalex.org/W2543019745","https://openalex.org/W2006785919","https://openalex.org/W2171912896","https://openalex.org/W116180645","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666","https://openalex.org/W2074457857"],"abstract_inverted_index":{"Today,":[0],"there":[1],"are":[2,58],"increased":[3,32],"interest":[4],"and":[5,47],"various":[6],"efforts":[7],"in":[8,21,55,76,94],"using":[9],"cognitive":[10,41],"architectures":[11,42],"to":[12,18,24,29,80],"control":[13,36,83],"robotic":[14,78],"platforms.":[15],"Recent":[16],"advances":[17],"essential":[19],"capabilities":[20],"robots":[22,56],"contributed":[23],"this":[25,67],"trend,":[26],"which":[27],"tries":[28],"meet":[30],"the":[31,95],"demand":[33],"for":[34,44,53,84],"high-level":[35],"mechanisms.":[37],"The":[38],"tradition":[39],"of":[40,63],"aims":[43],"general":[45],"intelligence,":[46],"they":[48],"have":[49],"some":[50,91],"great":[51],"potential":[52],"use":[54],"that":[57],"now":[59],"increasingly":[60],"more":[61],"capable":[62],"complex":[64],"tasks.":[65],"In":[66],"paper,":[68],"we":[69],"introduce":[70],"one":[71],"such":[72],"architecture,":[73],"ICARUS,":[74],"used":[75],"a":[77,85],"environment":[79],"provide":[81],"knowledge-based":[82],"humanoid":[86],"robot,":[87],"MAHRU.":[88],"We":[89],"show":[90],"experimental":[92],"observations":[93],"Blocks":[96],"World":[97],"domain.":[98]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
