{"id":"https://openalex.org/W2061350632","doi":"https://doi.org/10.1109/tro.2012.2234351","title":"Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints","display_name":"Dynamic Whole-Body Motion Generation Under Rigid Contacts and Other Unilateral Constraints","publication_year":2013,"publication_date":"2013-03-19","ids":{"openalex":"https://openalex.org/W2061350632","doi":"https://doi.org/10.1109/tro.2012.2234351","mag":"2061350632"},"language":"en","primary_location":{"id":"doi:10.1109/tro.2012.2234351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2234351","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","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/A5050456412","display_name":"Layale Saab","orcid":null},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Layale Saab","raw_affiliation_strings":["Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000885820","display_name":"Oscar E. Ramos","orcid":"https://orcid.org/0000-0001-5185-9745"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Oscar E. Ramos","raw_affiliation_strings":["Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066363926","display_name":"Fran\u00e7ois Keith","orcid":"https://orcid.org/0009-0008-7339-6436"},"institutions":[{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Francois Keith","raw_affiliation_strings":["CNRS-AIST Joint Robotics Laboratory, UMI3218, CRT, Tsukuba, Japan","Laboratoire d'Informatique de Robotique et de Micro\u00e9lectronique de Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CNRS-AIST Joint Robotics Laboratory, UMI3218, CRT, Tsukuba, Japan","institution_ids":[]},{"raw_affiliation_string":"Laboratoire d'Informatique de Robotique et de Micro\u00e9lectronique de Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046876471","display_name":"Nicolas Mansard","orcid":"https://orcid.org/0000-0002-8090-0601"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Nicolas Mansard","raw_affiliation_strings":["Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014128188","display_name":"Philippe Sou\u00e8res","orcid":"https://orcid.org/0000-0001-9064-4405"},"institutions":[{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I193033237","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210152422","https://openalex.org/I4210159245","https://openalex.org/I4405258862","https://openalex.org/I4405259414"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Soueres","raw_affiliation_strings":["Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratory for Analysis and Architecture of Systems, Centre National de la Recherche Scientifique, University of Toulouse, Toulouse, France","institution_ids":["https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113531617","display_name":"Jean-Yves Fourquet","orcid":null},"institutions":[{"id":"https://openalex.org/I119865316","display_name":"\u00c9cole Nationale d'Ing\u00e9nieurs de Tarbes","ror":"https://ror.org/01fdvj254","country_code":"FR","type":"education","lineage":["https://openalex.org/I119865316","https://openalex.org/I4405260803"]},{"id":"https://openalex.org/I4210130517","display_name":"Laboratoire G\u00e9nie de Production","ror":"https://ror.org/039aqbp11","country_code":"FR","type":"facility","lineage":["https://openalex.org/I4210130517","https://openalex.org/I4405260803"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Jean-Yves Fourquet","raw_affiliation_strings":["Laboratoire G\u00e9nie de Production, Ecole Nationale d Ing\u00e9nieurs de Tarbes, University of Toulouse, Tarbes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Laboratoire G\u00e9nie de Production, Ecole Nationale d Ing\u00e9nieurs de Tarbes, University of Toulouse, Tarbes, France","institution_ids":["https://openalex.org/I119865316","https://openalex.org/I4210130517"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":16.4664,"has_fulltext":false,"cited_by_count":216,"citation_normalized_percentile":{"value":0.99546627,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"29","issue":"2","first_page":"346","last_page":"362"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9993000030517578,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987000226974487,"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":0.6583259105682373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6231316328048706},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6119401454925537},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5763936638832092},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5296729803085327},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5255181789398193},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5143876671791077},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.48153501749038696},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.442270427942276},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.43778079748153687},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43505844473838806},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.42945554852485657},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4124906659126282},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3430655002593994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22913354635238647},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22005310654640198},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2041088044643402},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15082812309265137}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6583259105682373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6231316328048706},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6119401454925537},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5763936638832092},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5296729803085327},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5255181789398193},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5143876671791077},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.48153501749038696},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.442270427942276},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.43778079748153687},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43505844473838806},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.42945554852485657},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4124906659126282},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3430655002593994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22913354635238647},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22005310654640198},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2041088044643402},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15082812309265137},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/tro.2012.2234351","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tro.2012.2234351","pdf_url":null,"source":{"id":"https://openalex.org/S144620930","display_name":"IEEE Transactions on Robotics","issn_l":"1552-3098","issn":["1552-3098","1546-1904","1941-0468"],"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 Transactions on Robotics","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.405.9155","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.405.9155","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://hal.inria.fr/docs/00/83/10/97/PDF/2013_itro_saab-Dynamic_Whole_Body_Motion_Generation.pdf","raw_type":"text"},{"id":"pmh:oai:HAL:lirmm-00831097v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-00831097","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6482266","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.49000000953674316},{"display_name":"Reduced inequalities","id":"https://metadata.un.org/sdg/10","score":0.4099999964237213}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":88,"referenced_works":["https://openalex.org/W48695713","https://openalex.org/W297039922","https://openalex.org/W618254468","https://openalex.org/W639693478","https://openalex.org/W1508300292","https://openalex.org/W1510918013","https://openalex.org/W1559749952","https://openalex.org/W1748772981","https://openalex.org/W1794703952","https://openalex.org/W1977001952","https://openalex.org/W1977512600","https://openalex.org/W1984190176","https://openalex.org/W1993229498","https://openalex.org/W2003701638","https://openalex.org/W2014863553","https://openalex.org/W2015003349","https://openalex.org/W2021512411","https://openalex.org/W2037729465","https://openalex.org/W2039847020","https://openalex.org/W2049617391","https://openalex.org/W2053947939","https://openalex.org/W2055576996","https://openalex.org/W2056223738","https://openalex.org/W2062978913","https://openalex.org/W2067161665","https://openalex.org/W2072763216","https://openalex.org/W2074465517","https://openalex.org/W2078242231","https://openalex.org/W2086009575","https://openalex.org/W2096636360","https://openalex.org/W2099263911","https://openalex.org/W2100386752","https://openalex.org/W2100656166","https://openalex.org/W2101963590","https://openalex.org/W2102475157","https://openalex.org/W2103120971","https://openalex.org/W2104479525","https://openalex.org/W2108480458","https://openalex.org/W2110501241","https://openalex.org/W2111691855","https://openalex.org/W2112474089","https://openalex.org/W2113260111","https://openalex.org/W2114006755","https://openalex.org/W2116173495","https://openalex.org/W2116341587","https://openalex.org/W2117155277","https://openalex.org/W2119088038","https://openalex.org/W2119403459","https://openalex.org/W2119881003","https://openalex.org/W2127763473","https://openalex.org/W2127982942","https://openalex.org/W2129734754","https://openalex.org/W2130256951","https://openalex.org/W2131232094","https://openalex.org/W2133859362","https://openalex.org/W2133955818","https://openalex.org/W2138233825","https://openalex.org/W2139702716","https://openalex.org/W2139835588","https://openalex.org/W2141022958","https://openalex.org/W2141664020","https://openalex.org/W2143101939","https://openalex.org/W2153577013","https://openalex.org/W2153731877","https://openalex.org/W2161505441","https://openalex.org/W2164032318","https://openalex.org/W2164833077","https://openalex.org/W2169564405","https://openalex.org/W2170620126","https://openalex.org/W2250331966","https://openalex.org/W2296319761","https://openalex.org/W2296518426","https://openalex.org/W2505576567","https://openalex.org/W2545425704","https://openalex.org/W2546089398","https://openalex.org/W2798909945","https://openalex.org/W3088063282","https://openalex.org/W4206820429","https://openalex.org/W4213037692","https://openalex.org/W4236470048","https://openalex.org/W4248304976","https://openalex.org/W4250589301","https://openalex.org/W6630414479","https://openalex.org/W6676955925","https://openalex.org/W6677616476","https://openalex.org/W6684194385","https://openalex.org/W6684816303","https://openalex.org/W6729234456"],"related_works":["https://openalex.org/W2962851396","https://openalex.org/W2786331404","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W3134555460","https://openalex.org/W4283266117","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W339676884","https://openalex.org/W4389401105"],"abstract_inverted_index":{"The":[0,128,173],"most":[1],"widely":[2],"used":[3],"technique":[4],"for":[5,14,45],"generating":[6],"whole-body":[7],"motions":[8,185],"on":[9,23,189],"a":[10,140,158,169],"humanoid":[11],"robot":[12,35,71,111],"accounting":[13],"various":[15],"tasks":[16,40],"and":[17,43,78,125,188],"constraints":[18,72],"is":[19,133,178],"inverse":[20],"kinematics.":[21],"Based":[22],"the":[24,32,46,54,70,80,84,91,101,106,110,123,148,154,162,190],"task-function":[25,102],"approach,":[26],"this":[27,97,176],"class":[28],"of":[29,34,69,83,94,109,122,130,145,161,175],"methods":[30],"enables":[31,63],"coordination":[33],"movements":[36],"to":[37,53,65,88,104],"execute":[38],"several":[39,182],"in":[41,49,153,186],"parallel":[42],"account":[44],"sensor":[47],"feedback":[48],"real":[50,191],"time,":[51],"thanks":[52],"low":[55,170],"computation":[56,171],"cost.":[57,172],"To":[58],"some":[59,68],"extent,":[60],"it":[61],"also":[62],"us":[64],"deal":[66],"with":[67,114,147],"(e.g.,":[73],"joint":[74],"limits":[75],"or":[76,120],"visibility)":[77],"manage":[79],"quasi-static":[81],"balance":[82],"robot.":[85,193],"In":[86],"order":[87],"fully":[89],"use":[90],"whole":[92],"range":[93],"possible":[95,135],"motions,":[96],"paper":[98],"proposes":[99],"extending":[100],"approach":[103,177],"handle":[105],"full":[107],"dynamics":[108],"multibody":[112],"along":[113],"any":[115],"constraint":[116],"written":[117],"as":[118],"equality":[119],"inequality":[121],"state":[124],"control":[126],"variables.":[127],"definition":[129],"multiple":[131,163],"objectives":[132],"made":[134],"by":[136,180],"ordering":[137],"them":[138],"inside":[139],"strict":[141],"hierarchy.":[142],"Several":[143],"models":[144],"contact":[146,166],"environment":[149],"can":[150],"be":[151],"implemented":[152],"framework.":[155],"We":[156],"propose":[157],"reduced":[159],"formulation":[160],"rigid":[164],"planar":[165],"that":[167],"keeps":[168],"efficiency":[174],"illustrated":[179],"presenting":[181],"multicontact":[183],"dynamic":[184],"simulation":[187],"HRP-2":[192]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":9},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":20},{"year":2019,"cited_by_count":11},{"year":2018,"cited_by_count":29},{"year":2017,"cited_by_count":19},{"year":2016,"cited_by_count":19},{"year":2015,"cited_by_count":35},{"year":2014,"cited_by_count":21},{"year":2013,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}