{"id":"https://openalex.org/W2199736543","doi":"https://doi.org/10.1109/urai.2015.7358829","title":"Software architecture for humanoid robots with versatile task performing capabilities","display_name":"Software architecture for humanoid robots with versatile task performing capabilities","publication_year":2015,"publication_date":"2015-10-01","ids":{"openalex":"https://openalex.org/W2199736543","doi":"https://doi.org/10.1109/urai.2015.7358829","mag":"2199736543"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2015.7358829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","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/A5059976423","display_name":"Hyeongseok Jeon","orcid":"https://orcid.org/0000-0002-4596-6437"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hyeong-Seok Jeon","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037771884","display_name":"Yong-Jun Jeong","orcid":"https://orcid.org/0009-0000-2375-3820"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Jun Jeong","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059663795","display_name":"Deok-Won Lee","orcid":"https://orcid.org/0000-0001-8787-5608"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Deok-Won Lee","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062432558","display_name":"Chang\u2010Hyun Oh","orcid":"https://orcid.org/0000-0002-7724-3532"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Chang-Hyun Oh","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081171386","display_name":"Lo-Un Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Lo-Un Lee","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079838090","display_name":"Hyun-Min Kwon","orcid":null},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun-Min Kwon","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028039348","display_name":"Ki-Won Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Ki-Won Oh","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100704616","display_name":"Yong-Jae Kim","orcid":"https://orcid.org/0000-0003-1705-5123"},"institutions":[{"id":"https://openalex.org/I35886859","display_name":"Korea University of Technology and Education","ror":"https://ror.org/053nycv62","country_code":"KR","type":"education","lineage":["https://openalex.org/I35886859"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-Jae Kim","raw_affiliation_strings":["Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Electrical, Electronics Engineering & Communication Engineering, Korea University of Technology and Education, Cheonan, Korea","institution_ids":["https://openalex.org/I35886859"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5059976423"],"corresponding_institution_ids":["https://openalex.org/I35886859"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.08681369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"3","issue":null,"first_page":"555","last_page":"559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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/T10533","display_name":"Teaching and Learning Programming","score":0.9897000193595886,"subfield":{"id":"https://openalex.org/subfields/1706","display_name":"Computer Science Applications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10743","display_name":"Software Testing and Debugging Techniques","score":0.9879999756813049,"subfield":{"id":"https://openalex.org/subfields/1712","display_name":"Software"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8626986145973206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7245355844497681},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6568694114685059},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6030302047729492},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5847660899162292},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5609698295593262},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.5169919729232788},{"id":"https://openalex.org/keywords/function","display_name":"Function (biology)","score":0.47283631563186646},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35626596212387085},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35560575127601624},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.32855385541915894},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16416692733764648},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.12083441019058228},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.11001947522163391},{"id":"https://openalex.org/keywords/programming-language","display_name":"Programming language","score":0.08636096119880676}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8626986145973206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7245355844497681},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6568694114685059},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6030302047729492},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5847660899162292},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5609698295593262},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.5169919729232788},{"id":"https://openalex.org/C14036430","wikidata":"https://www.wikidata.org/wiki/Q3736076","display_name":"Function (biology)","level":2,"score":0.47283631563186646},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35626596212387085},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35560575127601624},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.32855385541915894},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16416692733764648},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.12083441019058228},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.11001947522163391},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.08636096119880676},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C78458016","wikidata":"https://www.wikidata.org/wiki/Q840400","display_name":"Evolutionary biology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/urai.2015.7358829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2015.7358829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Climate action","id":"https://metadata.un.org/sdg/13","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":11,"referenced_works":["https://openalex.org/W1515822460","https://openalex.org/W1820821744","https://openalex.org/W2009192474","https://openalex.org/W2100119371","https://openalex.org/W2119906889","https://openalex.org/W2144351850","https://openalex.org/W2171246729","https://openalex.org/W2171724570","https://openalex.org/W2901136733","https://openalex.org/W6675759124","https://openalex.org/W6756486208"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W2088677124","https://openalex.org/W1589423663","https://openalex.org/W3213722473"],"abstract_inverted_index":{"Recently,":[0],"life-sized":[1],"humanoid":[2,32,135],"robots":[3,33],"been":[4],"developed":[5],"and":[6,18,46,84,107],"evaluated":[7],"through":[8,127],"competitions":[9],"involving":[10],"a":[11,53,82,89,128,134],"series":[12],"of":[13,55,121],"missions":[14],"under":[15],"simulated":[16],"human-made":[17],"natural":[19],"disasters.":[20],"However,":[21],"it":[22,67,108],"is":[23,68,95],"difficult":[24],"to":[25,70],"generalize":[26],"about":[27],"the":[28,115,122],"software":[29,65,86],"architectures":[30],"for":[31,63,97,104],"that":[34],"can":[35,109],"perform":[36,110],"various":[37,105,111],"tasks":[38,112],"such":[39],"as":[40,99,101],"rotating":[41,130],"valves,":[42],"picking":[43],"up":[44],"objects,":[45],"opening":[47],"doors.":[48],"Furthermore,":[49],"even":[50],"though":[51],"there":[52],"number":[54],"effective":[56],"tools":[57],"like":[58],"Robot":[59],"Operating":[60],"System":[61],"(ROS)":[62],"robot":[64,136],"architectures,":[66],"hard":[69],"define":[71],"their":[72],"structure":[73],"or":[74],"function":[75,91,116],"set.":[76,92],"In":[77],"this":[78],"paper,":[79],"we":[80],"present":[81],"simple":[83],"well-structured":[85],"architecture":[87,124],"with":[88],"generalized":[90],"Its":[93],"hierarchy":[94],"suitable":[96],"simulation":[98],"well":[100],"actual":[102],"experiments":[103],"tasks,":[106],"by":[113,132],"combining":[114],"set":[117],"properly.":[118],"The":[119],"effectiveness":[120],"proposed":[123],"was":[125],"verified":[126],"valve":[129],"task":[131],"using":[133],"platform.":[137]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}