{"id":"https://openalex.org/W4405786973","doi":"https://doi.org/10.1109/iros58592.2024.10801838","title":"Compliance Optimization Control for Rigid-Soft Hybrid System and its Application in Humanoid Robot Motion Control","display_name":"Compliance Optimization Control for Rigid-Soft Hybrid System and its Application in Humanoid Robot Motion Control","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786973","doi":"https://doi.org/10.1109/iros58592.2024.10801838"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10801838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5101827167","display_name":"Zewen He","orcid":"https://orcid.org/0000-0002-4782-3165"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Zewen He","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003940459","display_name":"Taiki Ishigaki","orcid":"https://orcid.org/0000-0002-9122-8187"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Taiki Ishigaki","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. of Tokyo,Department of Mechano-Informatics,Tokyo,Japan,113-8656","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1628,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.49019608,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"11218","last_page":"11224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9063000082969666,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9063000082969666,"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/humanoid-robot","display_name":"Humanoid robot","score":0.7662150859832764},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.6445578932762146},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.6375030279159546},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5645575523376465},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.540505588054657},{"id":"https://openalex.org/keywords/compliance","display_name":"Compliance (psychology)","score":0.5242262482643127},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5048795342445374},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45100370049476624},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4156056046485901},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4037025272846222},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2737390995025635},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23074045777320862},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1806325614452362},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11436334252357483}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7662150859832764},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.6445578932762146},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.6375030279159546},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5645575523376465},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.540505588054657},{"id":"https://openalex.org/C2781460075","wikidata":"https://www.wikidata.org/wiki/Q1399332","display_name":"Compliance (psychology)","level":2,"score":0.5242262482643127},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5048795342445374},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45100370049476624},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4156056046485901},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4037025272846222},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2737390995025635},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23074045777320862},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1806325614452362},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11436334252357483},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10801838","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10801838","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1508861003","https://openalex.org/W2112474089","https://openalex.org/W2164032318","https://openalex.org/W2172023907","https://openalex.org/W2511924737","https://openalex.org/W2520982900","https://openalex.org/W2737165520","https://openalex.org/W2737354099","https://openalex.org/W2897782084","https://openalex.org/W2898873442","https://openalex.org/W3134213502","https://openalex.org/W3205983103","https://openalex.org/W3217144149","https://openalex.org/W4200178179","https://openalex.org/W4315472345"],"related_works":["https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W2543019745","https://openalex.org/W1532965292","https://openalex.org/W2531662632","https://openalex.org/W2314176764","https://openalex.org/W4247750500"],"abstract_inverted_index":{"Flexibility":[0],"and":[1,22,44,90],"softness":[2,24],"play":[3],"a":[4,30,52,58,68,106,113,117],"significant":[5],"role":[6],"in":[7,18,98],"dynamic":[8,43],"human":[9,20],"motions.":[10],"This":[11],"includes":[12],"the":[13,19,23,64,74,82,95],"flexibility":[14,40],"owing":[15],"to":[16,37,41],"ligaments":[17],"body":[21],"of":[25,67,112],"external":[26],"structures":[27],"such":[28,39],"as":[29],"leaf-spring-type":[31],"prosthesis.":[32,119],"Thus,":[33],"robotic":[34],"systems":[35],"need":[36],"utilize":[38],"achieve":[42],"energy-efficient":[45],"motion.":[46],"In":[47],"this":[48],"study,":[49],"we":[50],"proposed":[51,96],"compliance":[53],"optimization-based":[54],"control":[55],"framework":[56],"for":[57],"rigid-soft":[59],"hybrid":[60,83,107],"robot":[61,115],"system":[62,84,109],"where":[63],"continuous":[65],"deformation":[66],"flexible":[69,118],"structure":[70],"is":[71],"represented":[72],"using":[73,101],"piece-wise":[75],"constant":[76],"strain":[77],"(PCS)":[78],"model.":[79],"We":[80,93],"divided":[81],"into":[85],"two":[86],"states:":[87],"single":[88],"support":[89],"double":[91],"support.":[92],"validated":[94],"method":[97],"these":[99],"states":[100],"forward":[102],"dynamics":[103],"simulations,":[104],"assuming":[105],"link":[108],"that":[110],"consists":[111],"humanoid":[114],"with":[116]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}