{"id":"https://openalex.org/W2888605025","doi":"https://doi.org/10.1109/urai.2018.8441890","title":"On Humanoid Co-Robot Locomotion when Mechanically Coupled to a Human Partner","display_name":"On Humanoid Co-Robot Locomotion when Mechanically Coupled to a Human Partner","publication_year":2018,"publication_date":"2018-06-01","ids":{"openalex":"https://openalex.org/W2888605025","doi":"https://doi.org/10.1109/urai.2018.8441890","mag":"2888605025"},"language":"en","primary_location":{"id":"doi:10.1109/urai.2018.8441890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","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/A5011234325","display_name":"Keitaro Nishimura","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keitaro Nishimura","raw_affiliation_strings":["The Mechanical Engineering Department\u2019, University of Las Vegas, Las Vegas, NV, USA","The Mechanical Engineering Department', University of Las Vegas, Las Vegas, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Mechanical Engineering Department\u2019, University of Las Vegas, Las Vegas, NV, USA","institution_ids":["https://openalex.org/I133999245"]},{"raw_affiliation_string":"The Mechanical Engineering Department', University of Las Vegas, Las Vegas, NV, USA","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112819620","display_name":"Magdalena Bugajska","orcid":null},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Magdalena Bugajska","raw_affiliation_strings":["Computer Scientist, The Naval Research Laboratory (NRL), Washington, DC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Scientist, The Naval Research Laboratory (NRL), Washington, DC, USA","institution_ids":["https://openalex.org/I1288214837"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033596369","display_name":"Jean Chagas Vaz","orcid":"https://orcid.org/0000-0002-2934-8209"},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jean Vaz","raw_affiliation_strings":["The Mechanical Engineering Department, University of Las Vegas, Las Vegas, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Mechanical Engineering Department, University of Las Vegas, Las Vegas, NV, USA","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110190609","display_name":"Paul Oh","orcid":null},"institutions":[{"id":"https://openalex.org/I133999245","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72","country_code":"US","type":"education","lineage":["https://openalex.org/I133999245"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul Oh","raw_affiliation_strings":["The Mechanical Engineering Department, University of Las Vegas, Las Vegas, NV, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Mechanical Engineering Department, University of Las Vegas, Las Vegas, NV, USA","institution_ids":["https://openalex.org/I133999245"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080630773","display_name":"Donald Sofge","orcid":"https://orcid.org/0000-0003-0153-3581"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Donald Sofge","raw_affiliation_strings":["Roboticist at the Laboratory for Autonomous Systems Research, The Distributed Autonomous Systems Group, Washington, DC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Roboticist at the Laboratory for Autonomous Systems Research, The Distributed Autonomous Systems Group, Washington, DC, USA","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5060990511","display_name":"Daniel M. Lofaro","orcid":null},"institutions":[{"id":"https://openalex.org/I1288214837","display_name":"United States Naval Research Laboratory","ror":"https://ror.org/04d23a975","country_code":"US","type":"facility","lineage":["https://openalex.org/I1288214837","https://openalex.org/I1330347796","https://openalex.org/I175003984","https://openalex.org/I3130687028"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Daniel M. Lofaro","raw_affiliation_strings":["Faculty Appointment, The U.S. Naval Research Laboratory (NRL), Washington, DC, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty Appointment, The U.S. Naval Research Laboratory (NRL), Washington, DC, USA","institution_ids":["https://openalex.org/I1288214837"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"412","last_page":"419"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9983999729156494,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/bang-bang-robot","display_name":"Bang-bang robot","score":0.7393086552619934},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7328773736953735},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6875011324882507},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.6181278228759766},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.5722510814666748},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.558398962020874},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45499783754348755},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.44590628147125244},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4419037401676178},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42829272150993347},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3489583730697632},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34011930227279663},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3336842954158783},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32491111755371094},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19935351610183716},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10479363799095154}],"concepts":[{"id":"https://openalex.org/C584957","wikidata":"https://www.wikidata.org/wiki/Q4854909","display_name":"Bang-bang robot","level":5,"score":0.7393086552619934},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7328773736953735},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6875011324882507},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.6181278228759766},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.5722510814666748},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.558398962020874},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45499783754348755},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.44590628147125244},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4419037401676178},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42829272150993347},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3489583730697632},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34011930227279663},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3336842954158783},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32491111755371094},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19935351610183716},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10479363799095154},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/urai.2018.8441890","is_oa":false,"landing_page_url":"https://doi.org/10.1109/urai.2018.8441890","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 15th International Conference on Ubiquitous Robots (UR)","raw_type":"proceedings-article"},{"id":"pmh:oai:digitalscholarship.unlv.edu:me_fac_articles-1765","is_oa":false,"landing_page_url":"https://digitalscholarship.unlv.edu/me_fac_articles/763","pdf_url":null,"source":{"id":"https://openalex.org/S4377196371","display_name":"Digital Scholarship - UNLV (University of Nevada Reno)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134113660","host_organization_name":"University of Nevada, Reno","host_organization_lineage":["https://openalex.org/I134113660"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320309566","display_name":"University of Nevada, Las Vegas","ror":"https://ror.org/0406gha72"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1666054468","https://openalex.org/W1979103965","https://openalex.org/W1993617306","https://openalex.org/W2024801361","https://openalex.org/W2051856437","https://openalex.org/W2055346598","https://openalex.org/W2055922100","https://openalex.org/W2056457588","https://openalex.org/W2070553758","https://openalex.org/W2086493383","https://openalex.org/W2114689627","https://openalex.org/W2150958068","https://openalex.org/W2167340365","https://openalex.org/W2267730214","https://openalex.org/W2288223621","https://openalex.org/W2593113035","https://openalex.org/W2596291895","https://openalex.org/W2991542025","https://openalex.org/W3146502997","https://openalex.org/W6664461393","https://openalex.org/W6682368664","https://openalex.org/W7075341378"],"related_works":["https://openalex.org/W2778262232","https://openalex.org/W2139206564","https://openalex.org/W2910269320","https://openalex.org/W4242231179","https://openalex.org/W1979819035","https://openalex.org/W3004220142","https://openalex.org/W2216521820","https://openalex.org/W1854444597","https://openalex.org/W4285332827","https://openalex.org/W1522691079"],"abstract_inverted_index":{"This":[0],"work":[1,27,44,74],"focuses":[2],"on":[3,231,272],"the":[4,22,38,51,58,61,75,105,108,111,115,118,130,133,137,141,144,147,151,165,168,172,175,178,181,185,198,202,205,208,211,214,218,232,243,254,257,273,276],"implementation":[5],"of":[6,80,93,107,143,174,177,207,210],"mechanically":[7,77],"coupled":[8,78],"tasks":[9],"between":[10,129,164],"a":[11,15,69,82,85,126,260,269,288],"humanoid":[12,237],"robot":[13,83,109,145,179,212,238,246,258],"and":[14,132,167,195,204,234,245],"human.":[16],"The":[17],"latter":[18],"focus":[19],"comes":[20],"from":[21,114],"push":[23],"for":[24,37,110,146,180,213],"robots":[25,42],"to":[26,64],"with":[28,89,158,192,225,253],"humans":[29,52],"in":[30,104,140,201,251,259],"everyday":[31],"life":[32],"as":[33,57],"an":[34],"overarching":[35],"goal":[36],"field.":[39],"Co-robots,":[40],"or":[41],"that":[43,267],"alongside":[45],"humans,":[46],"may":[47],"be":[48],"guided":[49],"by":[50],"through":[53,84],"physical":[54],"contact,":[55],"such":[56],"human":[59,94,116,131,166,244,255,277],"grasping":[60],"robot's":[62],"hand":[63],"gently":[65],"guide":[66],"it":[67,280],"along":[68],"desired":[70],"path.":[71,263],"In":[72],"this":[73],"single-handed":[76],"task":[79],"guiding":[81,256,279],"course":[86],"is":[87,120,153,187,220,278,285],"implemented":[88],"four":[90],"different":[91],"methods":[92,97],"input.":[95],"These":[96,264],"include:":[98],"1)":[99],"using":[100,136,171,197],"only":[101],"force-torque":[102,138,199],"sensors":[103,139,200],"wrist":[106,142,203],"control":[112,148,157,182,191,215,224],"input":[113,149,183,216],"while":[117,150,184,217],"arm":[119,152,186,219,271],"under":[121,154,188,221],"high-gain":[122],"position":[123,156,173,190,206,223],"control,":[124],"creating":[125,161],"rigid":[127,289],"coupling":[128,163],"robot,":[134,169,274],"2)":[135],"low-gain":[155,189,222],"gravity":[159,193,226],"compensation,":[160,194],"compliant":[162,270],"3)":[170],"end-effector":[176,209],"4)":[196],"compensation.":[227],"Tests":[228],"are":[229,247],"performed":[230],"real-world":[233],"simulated":[235],"adult-size":[236],"DRC-Hubo++.":[239],"During":[240],"these":[241],"tests":[242,265],"walking":[248],"together":[249],"\u201chand":[250],"hand\u201d":[252],"\u201cfigure":[261],"eight\u201d":[262],"show":[266],"having":[268],"when":[275],"via":[281],"moving":[282],"its":[283],"end-effector,":[284],"beneficial":[286],"over":[287],"arm.":[290]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}