{"id":"https://openalex.org/W4391695336","doi":"https://doi.org/10.1109/sii58957.2024.10417696","title":"Holding Strategy Using Torso to Enable Humanoid Robots to Carry Heavier Objects","display_name":"Holding Strategy Using Torso to Enable Humanoid Robots to Carry Heavier Objects","publication_year":2024,"publication_date":"2024-01-08","ids":{"openalex":"https://openalex.org/W4391695336","doi":"https://doi.org/10.1109/sii58957.2024.10417696"},"language":"en","primary_location":{"id":"doi:10.1109/sii58957.2024.10417696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","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/A5004112508","display_name":"Satoki Tsuichihara","orcid":"https://orcid.org/0000-0003-0203-6544"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoki Tsuichihara","raw_affiliation_strings":["University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039070216","display_name":"Masayuki Yamada","orcid":"https://orcid.org/0000-0002-0308-8795"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masayuki Yamada","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008942758","display_name":"Kaito Hara","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kaito Hara","raw_affiliation_strings":["University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037692282","display_name":"Gustavo Alfonso Garcia Ricardez","orcid":"https://orcid.org/0000-0001-6518-577X"},"institutions":[{"id":"https://openalex.org/I135768898","display_name":"Ritsumeikan University","ror":"https://ror.org/0197nmd03","country_code":"JP","type":"education","lineage":["https://openalex.org/I135768898","https://openalex.org/I4390039241"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gustavo A. Garcia Ricardez","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Shiga, Japan","institution_ids":["https://openalex.org/I135768898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072197023","display_name":"Akishige Yuguchi","orcid":"https://orcid.org/0000-0002-2985-1162"},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]},{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akishige Yuguchi","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","Department of Medical and Robotic Engineering Design, Faculty of Advanced Engineering, Tokyo University of Science, Katsushika-ku, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"Department of Medical and Robotic Engineering Design, Faculty of Advanced Engineering, Tokyo University of Science, Katsushika-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047085140","display_name":"Jun Takamatsu","orcid":"https://orcid.org/0000-0001-7457-2878"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Jun Takamatsu","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085209922","display_name":"Takahiro Wada","orcid":"https://orcid.org/0000-0002-4518-8903"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takahiro Wada","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089803467","display_name":"Yasutake Takahashi","orcid":"https://orcid.org/0000-0001-7301-9907"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasutake Takahashi","raw_affiliation_strings":["University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Fukui,Faculty of Engineering,Department of Human and Artificial Intelligent Systems,Fukui, Fukui,Japan,910-8507","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044340470","display_name":"Tsukasa Ogasawara","orcid":"https://orcid.org/0000-0001-9767-6039"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tsukasa Ogasawara","raw_affiliation_strings":["Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nara Institute of Science and Technology,Division of Information Science,Ikoma, Nara,Japan,630-0192","institution_ids":["https://openalex.org/I75917431"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1031,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.82955335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1464","last_page":"1469"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9973000288009644,"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"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/torso","display_name":"Torso","score":0.9833006858825684},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7106304168701172},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7105474472045898},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6884230375289917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5607917904853821},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5281296372413635},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.493583083152771},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.262640118598938},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.10080161690711975},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09397554397583008},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.06934928894042969}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9833006858825684},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7106304168701172},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7105474472045898},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6884230375289917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5607917904853821},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5281296372413635},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.493583083152771},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.262640118598938},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.10080161690711975},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09397554397583008},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.06934928894042969},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii58957.2024.10417696","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii58957.2024.10417696","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1849671123","display_name":"Expansion of Preparation Behavior Database based on Human's Physical Burden  for Motion Generation of Humanoid Robots","funder_award_id":"23K12680","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":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1977736046","https://openalex.org/W2004071463","https://openalex.org/W2036484113","https://openalex.org/W2073932340","https://openalex.org/W2109192147","https://openalex.org/W2117425572","https://openalex.org/W2120693140","https://openalex.org/W2159357814","https://openalex.org/W2160154188","https://openalex.org/W2160455972","https://openalex.org/W2324295258","https://openalex.org/W2529170537","https://openalex.org/W2911393029","https://openalex.org/W3084365521","https://openalex.org/W3131987590","https://openalex.org/W3189610221","https://openalex.org/W6608273969","https://openalex.org/W6799195210","https://openalex.org/W6806317964"],"related_works":["https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W1984495143","https://openalex.org/W4308297792","https://openalex.org/W2158185825","https://openalex.org/W1606408717"],"abstract_inverted_index":{"To":[0],"alleviate":[1],"the":[2,59,73,79,90,105,125,130,136,140,143,156,159,165,168,185,189,193,196,202,222,228,233,237,241],"lack":[3],"of":[4,78,142,146,204],"workforce":[5],"endemic":[6],"in":[7,24,40,83,122,207],"contemporary":[8],"societies,":[9],"inventory":[10],"management":[11],"can":[12,38,54,101],"be":[13],"delegated":[14],"to":[15,75,103,127],"robots.":[16],"However,":[17,65],"current":[18],"robotic":[19],"solutions":[20],"cannot":[21],"operate":[22],"effectively":[23],"narrow":[25,46],"spaces":[26,47],"that":[27,184,227],"have":[28],"limited":[29,67],"unoccupied":[30],"pathways,":[31,51],"such":[32,86],"as":[33,52,87],"storage":[34,84],"rooms.":[35],"Humanoid":[36],"robots":[37,74,118],"work":[39],"facilities":[41],"designed":[42],"for":[43,72,116],"humans,":[44],"including":[45],"with":[48,124,152,175],"partially":[49],"obstructed":[50],"they":[53],"overcome":[55],"small":[56],"obstacles":[57],"on":[58,167,192,240],"floor":[60],"by":[61],"stepping":[62],"over":[63],"them.":[64],"their":[66],"torque":[68,132,166,190,203,238],"makes":[69],"it":[70],"difficult":[71],"carry":[76],"many":[77],"objects":[80],"typically":[81],"found":[82],"rooms":[85],"boxes.":[88],"On":[89],"other":[91],"hand,":[92],"when":[93,148,171],"holding":[94,114,149,172,187,214],"an":[95,150,173],"object,":[96],"using":[97,119,155,218,232],"multiple":[98],"body":[99],"parts":[100],"help":[102],"distribute":[104],"object's":[106],"load.":[107],"In":[108],"this":[109],"research,":[110],"we":[111,163,200],"propose":[112],"a":[113,215],"strategy":[115],"humanoid":[117,160],"both":[120,219],"arms":[121,220],"conjunction":[123],"torso":[126,230],"prevent":[128],"exceeding":[129],"joint":[131,235],"limit.":[133],"We":[134],"formulate":[135],"hands'":[137],"force":[138],"and":[139,153,177,195,210,221,243],"coordinates":[141],"robot's":[144,169],"center":[145],"gravity":[147],"object":[151,174,217],"without":[154],"torso.":[157,223],"Using":[158],"robot":[161],"HRP-4,":[162],"compare":[164],"joints":[170,206],"two":[176],"three":[178],"contact":[179],"points.":[180],"The":[181,224],"results":[182,225],"show":[183,226],"three-point":[186],"reduces":[188,236],"load":[191,239],"shoulder":[194,242],"chest":[197,234,244],"joints.":[198,245],"Moreover,":[199],"measure":[201],"all":[205],"various":[208],"torso-bending/leaning":[209],"arm-up/down":[211],"postures":[212],"while":[213],"2-kg":[216],"leaning":[229],"posture":[231]},"counts_by_year":[{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
