{"id":"https://openalex.org/W2698149751","doi":"https://doi.org/10.1109/lra.2017.2719765","title":"Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face","display_name":"Rotational Sliding Motion Generation for Humanoid Robot by Force Distribution in Each Contact Face","publication_year":2017,"publication_date":"2017-06-26","ids":{"openalex":"https://openalex.org/W2698149751","doi":"https://doi.org/10.1109/lra.2017.2719765","mag":"2698149751"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2017.2719765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2719765","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5072306746","display_name":"Kunio Kojima","orcid":"https://orcid.org/0000-0003-2198-8591"},"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"]},{"id":"https://openalex.org/I14396692","display_name":"Tokyo University of Information Sciences","ror":"https://ror.org/044bdx604","country_code":"JP","type":"education","lineage":["https://openalex.org/I14396692"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kunio Kojima","raw_affiliation_strings":["Department of Interdisciplinary Information Studies, Graduate School of Interdisciplinary Information Studies, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Interdisciplinary Information Studies, Graduate School of Interdisciplinary Information Studies, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030955211","display_name":"Yasuhiro Ishiguro","orcid":"https://orcid.org/0000-0003-3798-7366"},"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":"Yasuhiro Ishiguro","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091784384","display_name":"Fumihito Sugai","orcid":null},"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":"Fumihito Sugai","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102253148","display_name":"Shunichi Nozawa","orcid":null},"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":"Shunichi Nozawa","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112241257","display_name":"Yohei Kakiuchi","orcid":null},"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":"Yohei Kakiuchi","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101836795","display_name":"Kei Okada","orcid":"https://orcid.org/0000-0001-6606-6692"},"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":"Kei Okada","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"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":"Masayuki Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, Graduate School of Information Science and Technology, University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5072306746"],"corresponding_institution_ids":["https://openalex.org/I14396692","https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":0.7647,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.69522677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2","issue":"4","first_page":"2088","last_page":"2095"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.9937000274658203,"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":0.9878000020980835,"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":0.885565996170044},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6375534534454346},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6332410573959351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5030810236930847},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.495008647441864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4667905271053314},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.44526687264442444},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4309067726135254},{"id":"https://openalex.org/keywords/contact-dynamics","display_name":"Contact dynamics","score":0.4125417172908783},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33533427119255066},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2480781376361847},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.23981449007987976},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.19818371534347534},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1736672818660736},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16018646955490112}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.885565996170044},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6375534534454346},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6332410573959351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5030810236930847},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.495008647441864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4667905271053314},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.44526687264442444},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4309067726135254},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.4125417172908783},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33533427119255066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2480781376361847},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.23981449007987976},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.19818371534347534},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1736672818660736},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16018646955490112},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2017.2719765","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2017.2719765","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1525662195","https://openalex.org/W1874049655","https://openalex.org/W1973336020","https://openalex.org/W1987580649","https://openalex.org/W2033480951","https://openalex.org/W2051281476","https://openalex.org/W2074611885","https://openalex.org/W2101340954","https://openalex.org/W2110755522","https://openalex.org/W2118320757","https://openalex.org/W2133859362","https://openalex.org/W2141042553","https://openalex.org/W2214211003","https://openalex.org/W2214607041","https://openalex.org/W2738875079","https://openalex.org/W2963892386","https://openalex.org/W3102212813","https://openalex.org/W3145941942","https://openalex.org/W6696204902"],"related_works":["https://openalex.org/W2137135972","https://openalex.org/W1984009428","https://openalex.org/W2067464119","https://openalex.org/W2147725488","https://openalex.org/W2625368530","https://openalex.org/W4390188352","https://openalex.org/W2676527818","https://openalex.org/W2339217605","https://openalex.org/W2999364027","https://openalex.org/W2051904018"],"abstract_inverted_index":{"Recent":[0],"studies":[1],"have":[2,30],"explored":[3],"humanoid":[4,26,82,194],"robots":[5],"in":[6,11,180],"contact":[7,55,65,72,99,105,114,127,138,142,171,176],"with":[8],"the":[9,62,75,87,93,109,113,121,132,157,175,181,190],"environment":[10],"various":[12],"ways.":[13],"However,":[14],"many":[15],"of":[16,61,104,112],"them":[17],"assumed":[18],"static":[19],"rather":[20],"than":[21],"sliding":[22,32,54,71,122,145],"contacts.":[23],"Studies":[24],"on":[25,39,86],"shuffle":[27],"motion":[28],"planning":[29],"realized":[31],"motions,":[33],"such":[34],"as":[35],"turning,":[36],"but":[37,169],"relied":[38],"quasi-static":[40],"balance":[41,50,84],"control.":[42],"In":[43,159],"this":[44],"letter,":[45],"we":[46,163,184],"propose":[47],"a":[48,98,102,167],"dynamic":[49,83],"control":[51,78,90,135,164],"method":[52,59],"for":[53,136,173],"motions.":[56],"The":[57,95,129,148],"proposed":[58],"consists":[60],"distributed":[63],"force":[64,177],"constraint":[66],"(D.F.C.C.),":[67],"which":[68,80],"describes":[69],"rotational":[70],"constraints,":[73],"and":[74,107,152],"slide":[76],"friction":[77,123],"(S.F.C.),":[79],"controls":[81],"based":[85],"model":[88,133],"predictive":[89,134],"by":[91],"using":[92,192],"D.F.C.C.":[94,96,149],"segments":[97],"face":[100,143],"into":[101],"grid":[103],"points":[106],"optimize":[108],"vertical":[110],"component":[111],"forces.":[115],"This":[116],"enables":[117],"us":[118],"to":[119,140,154,156],"calculate":[120],"forces":[124,139,172],"at":[125],"each":[126,141],"point.":[128],"S.F.C.":[130,158,182],"is":[131,150],"distributing":[137],"considering":[144],"frictional":[146],"dynamics.":[147],"simple":[151],"easy":[153],"apply":[155],"our":[160,186],"online":[161],"stabilizer,":[162],"not":[165],"only":[166],"ZMP,":[168],"also":[170],"realizing":[174],"distributions":[178],"planned":[179],"Finally,":[183],"show":[185],"method's":[187],"validity":[188],"through":[189],"experiment":[191],"life-sized":[193],"robot":[195],"JAXON.":[196]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
