{"id":"https://openalex.org/W2057247091","doi":"https://doi.org/10.1109/iros.2010.5651815","title":"On-line human motion transition and control for humanoid upper body manipulation","display_name":"On-line human motion transition and control for humanoid upper body manipulation","publication_year":2010,"publication_date":"2010-10-01","ids":{"openalex":"https://openalex.org/W2057247091","doi":"https://doi.org/10.1109/iros.2010.5651815","mag":"2057247091"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2010.5651815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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/A5036878215","display_name":"Sung Yul Shin","orcid":"https://orcid.org/0000-0002-3210-8417"},"institutions":[{"id":"https://openalex.org/I123900574","display_name":"Pohang University of Science and Technology","ror":"https://ror.org/04xysgw12","country_code":"KR","type":"education","lineage":["https://openalex.org/I123900574"]},{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"Sung Yul Shin","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","Pohang University of Science and Technology, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]},{"raw_affiliation_string":"Pohang University of Science and Technology, South Korea","institution_ids":["https://openalex.org/I123900574"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102798763","display_name":"ChangHwan Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140519","display_name":"Korean Association Of Science and Technology Studies","ror":"https://ror.org/04qh86j58","country_code":"KR","type":"other","lineage":["https://openalex.org/I4210140519"]},{"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":"ChangHwan Kim","raw_affiliation_strings":["Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Cognitive Robotics Center, Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616","https://openalex.org/I4210140519"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4349,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67548643,"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":"477","last_page":"482"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9995999932289124,"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":0.9995999932289124,"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/T10653","display_name":"Robot Manipulation and Learning","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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9977999925613403,"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/humanoid-robot","display_name":"Humanoid robot","score":0.9371272325515747},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5851196646690369},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5646823048591614},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5023055076599121},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4877036511898041},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.4823302924633026},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4769288897514343},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46511438488960266},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.44001615047454834},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4312552809715271},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40822261571884155},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40262627601623535},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36701303720474243},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.17737042903900146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16037294268608093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13362914323806763}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9371272325515747},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5851196646690369},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5646823048591614},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5023055076599121},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4877036511898041},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.4823302924633026},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4769288897514343},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46511438488960266},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.44001615047454834},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4312552809715271},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40822261571884155},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40262627601623535},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36701303720474243},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.17737042903900146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16037294268608093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13362914323806763},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2010.5651815","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2010.5651815","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 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":19,"referenced_works":["https://openalex.org/W117609700","https://openalex.org/W154675219","https://openalex.org/W1564897360","https://openalex.org/W1990654347","https://openalex.org/W1991541857","https://openalex.org/W2014928560","https://openalex.org/W2091353356","https://openalex.org/W2098516422","https://openalex.org/W2099122932","https://openalex.org/W2099755684","https://openalex.org/W2100756547","https://openalex.org/W2130724454","https://openalex.org/W2136621952","https://openalex.org/W2144248494","https://openalex.org/W2164474021","https://openalex.org/W2167133624","https://openalex.org/W2543474865","https://openalex.org/W3031732320","https://openalex.org/W6606192875"],"related_works":["https://openalex.org/W1984314158","https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W4389401105","https://openalex.org/W2291700020"],"abstract_inverted_index":{"This":[0],"paper":[1],"represents":[2],"the":[3,7,10,25,47,51,58,62,65,71,76,82,101,107,118,153,171],"method":[4,133],"to":[5,68,80,105,116,127,160,173],"manipulate":[6],"objects":[8],"with":[9,94],"upper":[11,26,87,111],"body":[12,27,88,92],"of":[13,28,61,85,110,122,136,148],"a":[14,29,37,140,149,161,165,179],"humanoid":[15,30,48,66,86,141,162],"robot":[16,31,49,67,142,163,172],"by":[17,57,178],"capturing":[18],"human":[19,38,72,158],"motions":[20,55,147,159],"in":[21,138],"real-time.":[22],"To":[23],"control":[24],"and":[32,50,126,169],"make":[33],"it":[34,113],"behave":[35],"as":[36,70,89],"does,":[39],"we":[40,156],"define":[41],"several":[42],"virtual":[43,59,96],"spring-damper":[44,97],"elements":[45,63,98],"between":[46],"human.":[52,150],"The":[53,131],"resultant":[54,102],"given":[56],"forces":[60],"lead":[64],"move":[69],"acts.":[73],"We":[74],"employ":[75],"forward":[77],"dynamics":[78,83,109],"formulation":[79],"represent":[81],"model":[84],"an":[90,175],"articulated":[91],"system":[93,168],"those":[95],"for":[99],"obtaining":[100],"motions.":[103],"Due":[104],"considering":[106],"whole":[108],"body,":[112],"is":[114],"easy":[115],"resolve":[117],"ill-posedness":[119],"or":[120,145],"singularity":[121],"inverse":[123],"kinematics":[124],"problem":[125],"involve":[128],"external":[129],"forces.":[130],"present":[132],"may":[134],"be":[135],"use":[137],"teaching":[139],"working":[143],"skills":[144],"detailed":[146],"For":[151],"validating":[152],"proposed":[154],"method,":[155],"transited":[157],"using":[164],"motion":[166],"capture":[167],"controlled":[170],"grasp":[174],"object":[176],"passed":[177],"person":[180],"simultaneously.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}