{"id":"https://openalex.org/W2170023797","doi":"https://doi.org/10.1142/s0219843609001747","title":"SOFTWARE ARCHITECTURE AND TASK DEFINITION OF A MULTIPLE HUMANOID COOPERATIVE CONTROL SYSTEM","display_name":"SOFTWARE ARCHITECTURE AND TASK DEFINITION OF A MULTIPLE HUMANOID COOPERATIVE CONTROL SYSTEM","publication_year":2009,"publication_date":"2009-06-01","ids":{"openalex":"https://openalex.org/W2170023797","doi":"https://doi.org/10.1142/s0219843609001747","mag":"2170023797"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843609001747","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001747","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid 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/A5100855761","display_name":"Heonyoung Lim","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]},{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"HEONYOUNG LIM","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea","School of Mechanical and Aerospace Engineering, Seoul National University, 599 Gwanak-ro, Gwanak-gu, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]},{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, 599 Gwanak-ro, Gwanak-gu, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058423505","display_name":"Yeonsik Kang","orcid":"https://orcid.org/0000-0003-4667-3748"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"YEONSIK KANG","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023189661","display_name":"Joong-Jae Lee","orcid":"https://orcid.org/0000-0001-7732-6162"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JOONGJAE LEE","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100356559","display_name":"Jongwon Kim","orcid":"https://orcid.org/0000-0003-2519-6890"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"JONGWON KIM","raw_affiliation_strings":["School of Mechanical and Aerospace Engineering, Seoul National University, 599 Gwanak-ro, Gwanak-gu, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"School of Mechanical and Aerospace Engineering, Seoul National University, 599 Gwanak-ro, Gwanak-gu, Seoul, Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5102148147","display_name":"Bum-Jae You","orcid":null},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"BUM-JAE YOU","raw_affiliation_strings":["Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea"],"affiliations":[{"raw_affiliation_string":"Center for Cognitive Robotics Research, Korea Institute of Science and Technology, Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea","institution_ids":["https://openalex.org/I58716616"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5100855761"],"corresponding_institution_ids":["https://openalex.org/I139264467","https://openalex.org/I58716616"],"apc_list":null,"apc_paid":null,"fwci":0.6471,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.74495543,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"06","issue":"02","first_page":"173","last_page":"203"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9864000082015991,"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"}},"topics":[{"id":"https://openalex.org/T10444","display_name":"Context-Aware Activity Recognition Systems","score":0.9864000082015991,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9664999842643738,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9623000025749207,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8602968454360962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.8211227059364319},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.539313793182373},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.4974718391895294},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.49253377318382263},{"id":"https://openalex.org/keywords/software-architecture","display_name":"Software architecture","score":0.44510576128959656},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40694668889045715},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.33568572998046875},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.2501158118247986},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24267801642417908},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.19356399774551392},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.15338611602783203},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.10803556442260742},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.0631527304649353}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8602968454360962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.8211227059364319},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.539313793182373},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.4974718391895294},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.49253377318382263},{"id":"https://openalex.org/C35869016","wikidata":"https://www.wikidata.org/wiki/Q846636","display_name":"Software architecture","level":3,"score":0.44510576128959656},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40694668889045715},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.33568572998046875},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.2501158118247986},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24267801642417908},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.19356399774551392},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.15338611602783203},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.10803556442260742},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0631527304649353}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s0219843609001747","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843609001747","pdf_url":null,"source":{"id":"https://openalex.org/S75343556","display_name":"International Journal of Humanoid Robotics","issn_l":"0219-8436","issn":["0219-8436","1793-6942"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319815","host_organization_name":"World Scientific","host_organization_lineage":["https://openalex.org/P4310319815"],"host_organization_lineage_names":["World Scientific"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"International Journal of Humanoid Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1800962324","https://openalex.org/W1969756357","https://openalex.org/W1999487817","https://openalex.org/W2001948795","https://openalex.org/W2008763825","https://openalex.org/W2031369387","https://openalex.org/W2062653474","https://openalex.org/W2079758116","https://openalex.org/W2096934640","https://openalex.org/W2099035446","https://openalex.org/W2099755684","https://openalex.org/W2102391606","https://openalex.org/W2116755374","https://openalex.org/W2126158209","https://openalex.org/W2136448526","https://openalex.org/W2137714578","https://openalex.org/W2151533624","https://openalex.org/W2160755460","https://openalex.org/W2163267929","https://openalex.org/W2297172695","https://openalex.org/W6724927224","https://openalex.org/W6822205646"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W1991876829","https://openalex.org/W2650639705","https://openalex.org/W2159367619","https://openalex.org/W2131596139","https://openalex.org/W1936095683","https://openalex.org/W2114769520"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,10,17,76,81],"cooperative":[4,88],"control":[5,89],"software":[6,90,104,142],"architecture":[7,105,143],"that":[8],"coordinates":[9],"team":[11,29,71,156],"of":[12,26,59,92,111,116,132,139,149],"multiple":[13,86],"humanoid":[14,28,38,49,60,70,87,155,159],"to":[15,36,39,55,108,153],"complete":[16],"mission":[18,25,96,151],"by":[19,46,74],"collaborating":[20],"with":[21,80,119],"each":[22,37,158],"other.":[23],"The":[24,85,103,135],"the":[27,47,69,95,109,114,124,133,140,150,154],"is":[30,44],"decomposed":[31],"into":[32],"tasks":[33,61,67],"and":[34,66,100,113,137],"distributed":[35],"be":[40],"executed.":[41],"Each":[42],"task":[43,98,163],"described":[45],"proposed":[48],"action":[50,101],"primitives,":[51],"which":[52,127],"are":[53,72,144],"designed":[54,73],"abstract":[56],"broad":[57],"classes":[58],"appropriately.":[62],"In":[63],"particular,":[64],"missions":[65,118],"for":[68],"using":[75],"finite":[77],"state":[78],"machine":[79],"developed":[82],"user":[83],"interface.":[84],"consists":[91],"3":[93],"layers:":[94],"layer,":[97,99],"layer.":[102],"has":[106],"scalability":[107],"number":[110,115],"humanoids":[112],"assigned":[117,152],"its":[120,161],"framework":[121],"based":[122],"on":[123],"CORBA":[125],"middleware,":[126],"integrates":[128],"many":[129],"different":[130],"functionalities":[131],"humanoid.":[134],"feasibility":[136],"robustness":[138],"implemented":[141],"verified":[145],"through":[146],"successful":[147],"completion":[148],"while":[157],"performs":[160],"given":[162],"sequentially.":[164]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}