{"id":"https://openalex.org/W2160154188","doi":"https://doi.org/10.1109/robot.2005.1570359","title":"Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking","display_name":"Pushing an Object Considering the Hand Reflect Forces by Humanoid Robot in Dynamic Walking","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W2160154188","doi":"https://doi.org/10.1109/robot.2005.1570359","mag":"2160154188"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","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/A5112629611","display_name":"T. Takubo","orcid":null},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"T. Takubo","raw_affiliation_strings":["Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102736991","display_name":"K. Inoue","orcid":"https://orcid.org/0009-0005-0216-9787"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"K. Inoue","raw_affiliation_strings":["Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5017331725","display_name":"Tatsuo Arai","orcid":"https://orcid.org/0000-0001-7863-5696"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"Osaka University","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"T. Arai","raw_affiliation_strings":["Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Systems Innovation Graduate School of Engineering Science, Osaka University, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5112629611"],"corresponding_institution_ids":["https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":3.6269,"has_fulltext":false,"cited_by_count":55,"citation_normalized_percentile":{"value":0.92876165,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1706","last_page":"1711"},"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":0.9976000189781189,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8808012008666992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6342498064041138},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.574316680431366},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.49876904487609863},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4380946457386017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4232829511165619},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4202038645744324},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35925066471099854}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8808012008666992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6342498064041138},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.574316680431366},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.49876904487609863},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4380946457386017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4232829511165619},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4202038645744324},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35925066471099854}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570359","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570359","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/W2010072864","https://openalex.org/W2088677124","https://openalex.org/W2098214416","https://openalex.org/W2105353029","https://openalex.org/W2112028377","https://openalex.org/W2117333560","https://openalex.org/W2118320757","https://openalex.org/W2123477693","https://openalex.org/W2129787803","https://openalex.org/W2130282571","https://openalex.org/W2133859362","https://openalex.org/W2140387603","https://openalex.org/W2147299197","https://openalex.org/W2150387201","https://openalex.org/W2155571541","https://openalex.org/W2168647525","https://openalex.org/W2171406451","https://openalex.org/W2983916874","https://openalex.org/W6672759869","https://openalex.org/W6674862043"],"related_works":["https://openalex.org/W2975200075","https://openalex.org/W2979649235","https://openalex.org/W2007544051","https://openalex.org/W2540925674","https://openalex.org/W2392565008","https://openalex.org/W1837097281","https://openalex.org/W1966410754","https://openalex.org/W2363840281","https://openalex.org/W2061090284","https://openalex.org/W1561942766"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"pushing":[3,109],"a":[4,8,27,38,68],"heavy":[5],"object":[6],"by":[7,131],"humanoid":[9,28,39],"robot.":[10,29],"We":[11,66],"modify":[12],"the":[13,18,23,45,48,51,64,72,75,88,92,95,117,126],"whole":[14],"body":[15],"motion":[16],"considering":[17,91],"hand":[19],"reflecting":[20],"forces":[21,61],"for":[22,74,107],"walking":[24,96,120],"pattern":[25],"of":[26,37,47,50,78,125],"By":[30],"assuming":[31],"that":[32],"linear":[33],"and":[34,94,101,119,133],"angular":[35],"momentum":[36],"robot":[40,85],"are":[41],"calculated,":[42],"we":[43,111],"define":[44],"projection":[46],"Center":[49],"Mass(CoM)":[52],"as\u201d":[53],"Dynamically":[54],"Complemental":[55],"Zero":[56],"Moment":[57],"Point(DCZMP)\u201d,":[58],"when":[59],"external":[60],"act":[62],"to":[63],"end-effectors.":[65],"propose":[67],"new":[69],"method":[70,128],"using":[71],"DCZMP":[73,93],"modification":[76],"control":[77],"CoM":[79],"position":[80],"with":[81,116],"balancing":[82],"control.":[83],"The":[84,123],"can":[86],"keep":[87],"dynamical":[89],"balance":[90],"velocity":[97,121],"in":[98],"both":[99],"single":[100],"double":[102],"support":[103],"phase.":[104],"In":[105],"addition,":[106],"controlling":[108],"force,":[110],"implement":[112],"an":[113],"impedance":[114],"controller":[115],"manipulation":[118],"controller.":[122],"effectiveness":[124],"proposed":[127],"is":[129],"confirmed":[130],"simulations":[132],"experiments.":[134]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":3},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}