{"id":"https://openalex.org/W4285176008","doi":"https://doi.org/10.1109/lra.2022.3186515","title":"Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion","display_name":"Centroidal Trajectory Generation and Stabilization Based on Preview Control for Humanoid Multi-Contact Motion","publication_year":2022,"publication_date":"2022-06-27","ids":{"openalex":"https://openalex.org/W4285176008","doi":"https://doi.org/10.1109/lra.2022.3186515"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3186515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186515","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2505.23499","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5066818005","display_name":"Masaki Murooka","orcid":"https://orcid.org/0000-0002-1258-0431"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaki Murooka","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)"],"raw_orcid":"https://orcid.org/0000-0002-1258-0431","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014473932","display_name":"Mitsuharu Morisawa","orcid":"https://orcid.org/0000-0003-0056-4335"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mitsuharu Morisawa","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)"],"raw_orcid":"https://orcid.org/0000-0003-0056-4335","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)"],"raw_orcid":"https://orcid.org/0000-0002-0277-3467","affiliations":[{"raw_affiliation_string":"CNRS-AIST JRL (Joint Robotics Laboratory), IRL and National Institute of Advanced Industrial Science and Technology (AIST), Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"AIST - National Institute of Advanced Industrial Science and Technology (Higashi, Tsukuba, Ibaraki 305-8561 - Japan)","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":1.9292,"has_fulltext":true,"cited_by_count":30,"citation_normalized_percentile":{"value":0.85406804,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"7","issue":"3","first_page":"8225","last_page":"8232"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9955000281333923,"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":0.9901000261306763,"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/trajectory","display_name":"Trajectory","score":0.7877340316772461},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7508676052093506},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.6265043020248413},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5387850999832153},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5136470198631287},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4571308195590973},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4193650782108307},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.40566763281822205},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3556538224220276},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.142594575881958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.05634316802024841}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7877340316772461},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7508676052093506},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.6265043020248413},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5387850999832153},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5136470198631287},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4571308195590973},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4193650782108307},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.40566763281822205},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3556538224220276},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.142594575881958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.05634316802024841},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/lra.2022.3186515","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3186515","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"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"},{"id":"pmh:oai:arXiv.org:2505.23499","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.23499","pdf_url":"https://arxiv.org/pdf/2505.23499","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:HAL:hal-03720407v1","is_oa":true,"landing_page_url":"https://cnrs.hal.science/hal-03720407","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 2022, 7 (3), pp.8225-8232. ⟨10.1109/LRA.2022.3186515⟩","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2505.23499","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2505.23499","pdf_url":"https://arxiv.org/pdf/2505.23499","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1057432950","display_name":"Realization of responsive multi-contact locomotion system in complex unknown environments","funder_award_id":"21H01300","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4285176008.pdf","grobid_xml":"https://content.openalex.org/works/W4285176008.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1973195195","https://openalex.org/W1987580649","https://openalex.org/W2033480951","https://openalex.org/W2044627378","https://openalex.org/W2046636826","https://openalex.org/W2061983716","https://openalex.org/W2070507784","https://openalex.org/W2074042377","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2143729862","https://openalex.org/W2158782408","https://openalex.org/W2211080258","https://openalex.org/W2470094176","https://openalex.org/W2474963033","https://openalex.org/W2477962321","https://openalex.org/W2763052367","https://openalex.org/W2789286310","https://openalex.org/W2913971027","https://openalex.org/W2967793392","https://openalex.org/W2996846637","https://openalex.org/W2999253226","https://openalex.org/W3081791272","https://openalex.org/W3187891773","https://openalex.org/W4210990956","https://openalex.org/W4285028015"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W2632090827","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W2101105382","https://openalex.org/W1532965292","https://openalex.org/W2541058374","https://openalex.org/W2044900919"],"abstract_inverted_index":{"Multi-contact":[0],"motion":[1],"is":[2],"important":[3],"for":[4,22,65,72],"humanoid":[5,23],"robots":[6],"to":[7,67],"work":[8],"in":[9],"various":[10],"environments.":[11],"We":[12],"propose":[13],"a":[14,84],"centroidal":[15,62],"online":[16],"trajectory":[17],"generation":[18],"and":[19,69],"stabilization":[20],"control":[21,41,48,60],"dynamic":[24],"multi-contact":[25,87],"motion.":[26],"The":[27],"proposed":[28],"method":[29],"features":[30],"the":[31,35,44,51,79],"drastic":[32],"reduction":[33],"of":[34,43,53,86],"computational":[36],"cost":[37],"by":[38],"using":[39],"preview":[40,59],"instead":[42],"conventional":[45],"model":[46],"predictive":[47],"that":[49,78],"considers":[50],"constraints":[52],"all":[54],"sample":[55],"times.":[56],"By":[57],"combining":[58],"with":[61],"state":[63],"feedback":[64],"robustness":[66],"disturbances":[68],"wrench":[70],"distribution":[71],"satisfying":[73],"contact":[74],"constraints,":[75],"we":[76],"show":[77],"robot":[80],"can":[81],"stably":[82],"perform":[83],"variety":[85],"motions":[88],"through":[89],"simulation":[90],"experiments.":[91]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}