{"id":"https://openalex.org/W1964030085","doi":"https://doi.org/10.1109/iros.2013.6696720","title":"Automatic task-specific model reduction for humanoid robots","display_name":"Automatic task-specific model reduction for humanoid robots","publication_year":2013,"publication_date":"2013-11-01","ids":{"openalex":"https://openalex.org/W1964030085","doi":"https://doi.org/10.1109/iros.2013.6696720","mag":"1964030085"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2013.6696720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5005548471","display_name":"Umashankar Nagarajan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Umashankar Nagarajan","raw_affiliation_strings":["Disney Research Pitts-burgh, PA, USA","Disney Research, Pittsburgh, Pittsburgh, PA, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Disney Research Pitts-burgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I4210142140"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5062092630","display_name":"Katsu Yamane","orcid":"https://orcid.org/0000-0002-6056-9210"},"institutions":[{"id":"https://openalex.org/I4210142140","display_name":"Walt Disney (United States)","ror":"https://ror.org/04eg47h42","country_code":"US","type":"company","lineage":["https://openalex.org/I4210142140"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Katsu Yamane","raw_affiliation_strings":["Disney Research Pitts-burgh, PA, USA","Disney Research, Pittsburgh, Pittsburgh, PA, USA#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Disney Research Pitts-burgh, PA, USA","institution_ids":["https://openalex.org/I4210142140"]},{"raw_affiliation_string":"Disney Research, Pittsburgh, Pittsburgh, PA, USA#TAB#","institution_ids":["https://openalex.org/I4210142140"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210142140"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"55","issue":null,"first_page":"2578","last_page":"2585"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9980000257492065,"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":0.9980000257492065,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9926000237464905,"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"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9869999885559082,"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":0.8784747123718262},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7132568359375},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6947472095489502},{"id":"https://openalex.org/keywords/intuition","display_name":"Intuition","score":0.5970988869667053},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.5951970815658569},{"id":"https://openalex.org/keywords/swing","display_name":"Swing","score":0.5361359715461731},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49917030334472656},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4801863431930542},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.4782116115093231},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.471972793340683},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.43578028678894043},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.41612640023231506},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3963608741760254},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3956371247768402},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19693279266357422},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07167178392410278}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8784747123718262},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7132568359375},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6947472095489502},{"id":"https://openalex.org/C132010649","wikidata":"https://www.wikidata.org/wiki/Q189222","display_name":"Intuition","level":2,"score":0.5970988869667053},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.5951970815658569},{"id":"https://openalex.org/C65655974","wikidata":"https://www.wikidata.org/wiki/Q14867674","display_name":"Swing","level":2,"score":0.5361359715461731},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49917030334472656},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4801863431930542},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.4782116115093231},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.471972793340683},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.43578028678894043},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.41612640023231506},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3963608741760254},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3956371247768402},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19693279266357422},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07167178392410278},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","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/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2013.6696720","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2013.6696720","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.8500000238418579,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W103535159","https://openalex.org/W1017232250","https://openalex.org/W1756795049","https://openalex.org/W1870982710","https://openalex.org/W1937967612","https://openalex.org/W1973942504","https://openalex.org/W1984714339","https://openalex.org/W1985927505","https://openalex.org/W2008342119","https://openalex.org/W2051567001","https://openalex.org/W2099571563","https://openalex.org/W2115320056","https://openalex.org/W2117185233","https://openalex.org/W2122458271","https://openalex.org/W2129736406","https://openalex.org/W2133859362","https://openalex.org/W2139612757","https://openalex.org/W2143657342","https://openalex.org/W2150713722","https://openalex.org/W2160625580","https://openalex.org/W2245700628","https://openalex.org/W2293396566"],"related_works":["https://openalex.org/W2614575562","https://openalex.org/W2372645633","https://openalex.org/W2689391174","https://openalex.org/W1859914877","https://openalex.org/W2543019745","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500","https://openalex.org/W2540452882","https://openalex.org/W2356070666"],"abstract_inverted_index":{"Simple":[0],"inverted":[1],"pendulum":[2],"models":[3,24,43,89],"and":[4,38,50,55,102,105],"their":[5],"variants":[6],"are":[7,44,60,109],"often":[8],"used":[9],"to":[10,16,90],"control":[11,19,57,91],"humanoid":[12,72,92],"robots":[13],"in":[14],"order":[15],"simplify":[17],"the":[18,32,47,51,56,85],"design":[20,37],"process.":[21],"These":[22],"simple":[23,42],"have":[25],"significantly":[26],"fewer":[27],"degrees":[28],"of":[29,40,97],"freedom":[30],"than":[31],"full":[33],"robot":[34],"model.":[35],"The":[36],"choice":[39],"these":[41],"based":[45],"on":[46],"designer's":[48],"intuition,":[49],"reduced":[52,88],"state":[53],"mapping":[54,59],"input":[58],"manually":[61],"chosen.":[62],"This":[63],"paper":[64],"presents":[65,79],"an":[66,80],"automatic":[67],"model":[68],"reduction":[69],"procedure":[70],"for":[71],"robots,":[73],"which":[74],"is":[75],"task-specific.":[76],"It":[77],"also":[78],"optimization":[81],"framework":[82],"that":[83],"uses":[84],"auto-generated":[86],"task-specific":[87],"robots.":[93],"Successful":[94],"simulation":[95],"results":[96],"balancing,":[98],"fast":[99],"arm":[100],"swing,":[101],"hip":[103],"rock":[104],"roll":[106],"motion":[107],"tasks":[108],"demonstrated.":[110]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}