{"id":"https://openalex.org/W1978815112","doi":"https://doi.org/10.1109/iros.2014.6942670","title":"Identification of HRP-2 foot's dynamics","display_name":"Identification of HRP-2 foot's dynamics","publication_year":2014,"publication_date":"2014-09-01","ids":{"openalex":"https://openalex.org/W1978815112","doi":"https://doi.org/10.1109/iros.2014.6942670","mag":"1978815112"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2014.6942670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 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/A5110500890","display_name":"Yuya Mikami","orcid":null},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuya Mikami","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Japan","Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Japan","institution_ids":["https://openalex.org/I92614990"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036087573","display_name":"Thomas Moulard","orcid":"https://orcid.org/0000-0002-7890-5366"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Moulard","raw_affiliation_strings":["CNRS-AIST, Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan","CNRS-AIST, JRL (joint Robotics Laboratory), UMI 3218/CRT, Intelligent Systems Research Institute, AIST Central 2, 1-1-1 Umezono Tsukuba Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST, Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST, JRL (joint Robotics Laboratory), UMI 3218/CRT, Intelligent Systems Research Institute, AIST Central 2, 1-1-1 Umezono Tsukuba Ibaraki, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Eichi Yoshida","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Eichi Yoshida","raw_affiliation_strings":["CNRS-AIST, Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan","CNRS-AIST, JRL (joint Robotics Laboratory), UMI 3218/CRT, Intelligent Systems Research Institute, AIST Central 2, 1-1-1 Umezono Tsukuba Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST, Intelligent Systems Research Institute, Tsukuba, Ibaraki, Japan","institution_ids":[]},{"raw_affiliation_string":"CNRS-AIST, JRL (joint Robotics Laboratory), UMI 3218/CRT, Intelligent Systems Research Institute, AIST Central 2, 1-1-1 Umezono Tsukuba Ibaraki, Japan","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Japan","Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, Koganei, Japan","institution_ids":["https://openalex.org/I92614990"]},{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technology, 2-24-16, Nakacho, Koganei, Japan","institution_ids":["https://openalex.org/I92614990"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"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":null,"issue":null,"first_page":"927","last_page":"932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9988999962806702,"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":0.9988999962806702,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9846000075340271,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9606999754905701,"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":0.852483332157135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6757756471633911},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.6363555192947388},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.612337052822113},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5779746174812317},{"id":"https://openalex.org/keywords/foot","display_name":"Foot (prosody)","score":0.5211731791496277},{"id":"https://openalex.org/keywords/dynamics","display_name":"Dynamics (music)","score":0.4718969762325287},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.47166526317596436},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4586714208126068},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36999374628067017},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3123946189880371},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2317642867565155},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23040175437927246},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11792361736297607},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.09721305966377258},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08263152837753296}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.852483332157135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6757756471633911},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.6363555192947388},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.612337052822113},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5779746174812317},{"id":"https://openalex.org/C115076146","wikidata":"https://www.wikidata.org/wiki/Q1651051","display_name":"Foot (prosody)","level":2,"score":0.5211731791496277},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4718969762325287},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.47166526317596436},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4586714208126068},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36999374628067017},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3123946189880371},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2317642867565155},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23040175437927246},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11792361736297607},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.09721305966377258},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08263152837753296},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2014.6942670","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2014.6942670","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322892","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1520476900","https://openalex.org/W1560270123","https://openalex.org/W2018911853","https://openalex.org/W2035587171","https://openalex.org/W2078856056","https://openalex.org/W2097105297","https://openalex.org/W2107794792","https://openalex.org/W2119143623","https://openalex.org/W2131541029","https://openalex.org/W2159537373","https://openalex.org/W2167354091","https://openalex.org/W2169017219","https://openalex.org/W2169814710","https://openalex.org/W2170068381","https://openalex.org/W2320053039","https://openalex.org/W2541358468","https://openalex.org/W6631276923","https://openalex.org/W6684220894"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W2163555676","https://openalex.org/W4389401105","https://openalex.org/W4390481035","https://openalex.org/W2016381855","https://openalex.org/W2776995446"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,19,52,67,70,77,80,105,109],"identification":[4],"of":[5,28,41,54,69,79,82],"HRP-2":[6],"foot's":[7],"dynamics.":[8],"It":[9],"is":[10,30,35],"expected":[11],"that":[12,25],"a":[13,33,48,55],"humanoid":[14,83],"robot":[15,53,84],"will":[16],"work":[17],"in":[18,47],"same":[20],"environment":[21],"as":[22],"man.":[23],"For":[24],"purpose,":[26],"safety":[27],"operation":[29],"important.":[31],"Although":[32],"simulator":[34,113],"used":[36,87],"for":[37,73],"confirming":[38],"safe":[39],"conditions":[40],"operation,":[42],"an":[43,58],"error":[44],"may":[45],"arise":[46],"dynamic":[49],"parameter":[50,98],"by":[51],"simulator,":[56],"and":[57,92,112],"actual":[59],"robot.":[60],"In":[61],"this":[62],"paper,":[63],"it":[64],"identified":[65,97,106],"about":[66],"viscoelasticity":[68],"sole":[71],"bush":[72],"impact":[74],"absorption":[75],"at":[76],"time":[78],"walk":[81],"HRP-2.":[85],"We":[86,96,102],"some":[88],"simple":[89],"active":[90],"motions":[91],"composed":[93,100],"these":[94],"motions.":[95,101],"using":[99,108],"finally":[103],"compare":[104],"parameters":[107],"experimental":[110],"results":[111],"results.":[114]},"counts_by_year":[{"year":2018,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
