{"id":"https://openalex.org/W2103899131","doi":"https://doi.org/10.1109/iros.2004.1389829","title":"A modular and distributed embedded control architecture for humanoid robots","display_name":"A modular and distributed embedded control architecture for humanoid robots","publication_year":2005,"publication_date":"2005-04-01","ids":{"openalex":"https://openalex.org/W2103899131","doi":"https://doi.org/10.1109/iros.2004.1389829","mag":"2103899131"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2004.1389829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","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/A5054584336","display_name":"D.N. Ly","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"D.N. Ly","raw_affiliation_strings":["Research Center of Information Technologies, Karlsruhe, Germany","Research Center for Information Technology Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Research Center of Information Technologies, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Research Center for Information Technology Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054211632","display_name":"K. Regenstein","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"K. Regenstein","raw_affiliation_strings":["Research Center of Information Technologies, Karlsruhe, Germany","Research Center for Information Technology Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Research Center of Information Technologies, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Research Center for Information Technology Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012730104","display_name":"Tamim Asfour","orcid":"https://orcid.org/0000-0003-4879-7680"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"T. Asfour","raw_affiliation_strings":["Research Center of Information Technologies, Karlsruhe, Germany","Research Center for Information Technology Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Research Center of Information Technologies, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Research Center for Information Technology Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112552331","display_name":"R\u00fcdiger Dillmann","orcid":null},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"R. Dillmann","raw_affiliation_strings":["Research Center of Information Technologies, Karlsruhe, Germany","Research Center for Information Technology Karlsruhe, Germany"],"affiliations":[{"raw_affiliation_string":"Research Center of Information Technologies, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]},{"raw_affiliation_string":"Research Center for Information Technology Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5054584336"],"corresponding_institution_ids":["https://openalex.org/I143379178"],"apc_list":null,"apc_paid":null,"fwci":2.1081,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.86514369,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2775","last_page":"2780"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9847999811172485,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9556000232696533,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/modular-design","display_name":"Modular design","score":0.7469947934150696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7462412118911743},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7390644550323486},{"id":"https://openalex.org/keywords/architecture","display_name":"Architecture","score":0.6636325120925903},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6167205572128296},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.5459616780281067},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5155563354492188},{"id":"https://openalex.org/keywords/applications-architecture","display_name":"Applications architecture","score":0.5127602219581604},{"id":"https://openalex.org/keywords/embedded-system","display_name":"Embedded system","score":0.47236472368240356},{"id":"https://openalex.org/keywords/computer-architecture","display_name":"Computer architecture","score":0.4698311984539032},{"id":"https://openalex.org/keywords/reference-architecture","display_name":"Reference architecture","score":0.4670143723487854},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43978941440582275},{"id":"https://openalex.org/keywords/self-reconfiguring-modular-robot","display_name":"Self-reconfiguring modular robot","score":0.4273372292518616},{"id":"https://openalex.org/keywords/space-based-architecture","display_name":"Space-based architecture","score":0.42319634556770325},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4178749918937683},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.3625093698501587},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.36140239238739014},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.33649033308029175},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.26769280433654785},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17343375086784363},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1274867057800293},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.07578420639038086}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7469947934150696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7462412118911743},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7390644550323486},{"id":"https://openalex.org/C123657996","wikidata":"https://www.wikidata.org/wiki/Q12271","display_name":"Architecture","level":2,"score":0.6636325120925903},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6167205572128296},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.5459616780281067},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5155563354492188},{"id":"https://openalex.org/C41065761","wikidata":"https://www.wikidata.org/wiki/Q2193309","display_name":"Applications architecture","level":4,"score":0.5127602219581604},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.47236472368240356},{"id":"https://openalex.org/C118524514","wikidata":"https://www.wikidata.org/wiki/Q173212","display_name":"Computer architecture","level":1,"score":0.4698311984539032},{"id":"https://openalex.org/C55356503","wikidata":"https://www.wikidata.org/wiki/Q2136675","display_name":"Reference architecture","level":4,"score":0.4670143723487854},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43978941440582275},{"id":"https://openalex.org/C49603950","wikidata":"https://www.wikidata.org/wiki/Q17165512","display_name":"Self-reconfiguring modular robot","level":5,"score":0.4273372292518616},{"id":"https://openalex.org/C55627697","wikidata":"https://www.wikidata.org/wiki/Q7572175","display_name":"Space-based architecture","level":5,"score":0.42319634556770325},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4178749918937683},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.3625093698501587},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.36140239238739014},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.33649033308029175},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.26769280433654785},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17343375086784363},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1274867057800293},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.07578420639038086},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0},{"id":"https://openalex.org/C153349607","wikidata":"https://www.wikidata.org/wiki/Q36649","display_name":"Visual arts","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2004.1389829","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2004.1389829","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566)","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.323.8425","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.323.8425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://wwwiaim.ira.uka.de/users/asfour/publications/IROS-2004-1.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1519324376","https://openalex.org/W1585178705","https://openalex.org/W2103362776","https://openalex.org/W2113786136","https://openalex.org/W2152536965","https://openalex.org/W2152869188","https://openalex.org/W2163555676","https://openalex.org/W2543945668","https://openalex.org/W4232276202","https://openalex.org/W6635082171"],"related_works":["https://openalex.org/W4238407057","https://openalex.org/W4289655526","https://openalex.org/W2108340160","https://openalex.org/W2170496042","https://openalex.org/W2742781925","https://openalex.org/W2976480616","https://openalex.org/W2902876962","https://openalex.org/W1152672851","https://openalex.org/W2372256883","https://openalex.org/W1559164516"],"abstract_inverted_index":{"In":[0],"this":[1,44],"paper":[2],"we":[3],"present":[4],"a":[5,23,28],"modular":[6],"and":[7,17,35,48,61],"distributed":[8],"control":[9,66],"architecture":[10,31,45],"in":[11,43],"order":[12],"to":[13],"achieve":[14],"natural":[15],"interaction":[16],"mobile":[18],"manipulation":[19],"task":[20],"goals":[21],"for":[22],"humanoid":[24],"robot.":[25],"We":[26,51],"propose":[27],"hierarchically":[29],"organized":[30],"with":[32],"three":[33],"levels":[34],"introduce":[36],"the":[37,40,64],"mapping":[38],"of":[39],"functional":[41,55],"features":[42,56],"into":[46,63],"hardware":[47],"software":[49],"modules.":[50],"also":[52],"describe":[53],"different":[54],"which":[57],"have":[58],"been":[59],"realized":[60],"integrated":[62],"whole":[65],"architecture.":[67]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}