{"id":"https://openalex.org/W1979353458","doi":"https://doi.org/10.1142/s0219843611002599","title":"TOWARD DYNAMIC MANIPULATION FOR HUMANOID ROBOTS: EXPERIMENTS AND DESIGN ASPECTS","display_name":"TOWARD DYNAMIC MANIPULATION FOR HUMANOID ROBOTS: EXPERIMENTS AND DESIGN ASPECTS","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W1979353458","doi":"https://doi.org/10.1142/s0219843611002599","mag":"1979353458"},"language":"en","primary_location":{"id":"doi:10.1142/s0219843611002599","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843611002599","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/A5078447479","display_name":"Georg B\u00e4tz","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"GEORG B\u00c4TZ","raw_affiliation_strings":["Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055670662","display_name":"Michael Scheint","orcid":null},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"MICHAEL SCHEINT","raw_affiliation_strings":["Institute for Advanced Studies, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Advanced Studies, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5061769472","display_name":"Dirk Wollherr","orcid":"https://orcid.org/0000-0003-2810-6790"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"DIRK WOLLHERR","raw_affiliation_strings":["Institute for Advanced Studies, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany","Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Advanced Studies, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"Institute of Automatic Control Engineering, Technische Universit\u00e4t M\u00fcnchen, Theresienstr. 90, M\u00fcnchen, D-80290, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":0.4218,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.63777324,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"08","issue":"03","first_page":"513","last_page":"532"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9955999851226807,"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":0.988099992275238,"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":0.8560812473297119},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7970417737960815},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.5216986536979675},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5041271448135376},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4898662269115448},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.46350592374801636},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36199885606765747},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3353279232978821},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32697242498397827}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8560812473297119},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7970417737960815},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.5216986536979675},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5041271448135376},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4898662269115448},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.46350592374801636},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36199885606765747},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3353279232978821},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32697242498397827},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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":1,"locations":[{"id":"doi:10.1142/s0219843611002599","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s0219843611002599","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":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6100000143051147}],"awards":[],"funders":[{"id":"https://openalex.org/F4320322572","display_name":"Studienstiftung des Deutschen Volkes","ror":"https://ror.org/05xwwfy96"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W18288968","https://openalex.org/W1481573691","https://openalex.org/W1540020006","https://openalex.org/W2001306860","https://openalex.org/W2004421076","https://openalex.org/W2013242756","https://openalex.org/W2040227765","https://openalex.org/W2069965378","https://openalex.org/W2101218549","https://openalex.org/W2104277144","https://openalex.org/W2111253117","https://openalex.org/W2112844012","https://openalex.org/W2121754060","https://openalex.org/W2121990344","https://openalex.org/W2125533443","https://openalex.org/W2128137193","https://openalex.org/W2156481835","https://openalex.org/W2157055752","https://openalex.org/W2169008269","https://openalex.org/W2171025682","https://openalex.org/W2293376070","https://openalex.org/W2293480950","https://openalex.org/W3145969779","https://openalex.org/W4229770299"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2543019745","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2143454724"],"abstract_inverted_index":{"This":[0],"paper":[1],"discusses":[2],"a":[3,56,95,119],"control":[4,96],"architecture":[5],"to":[6,41,63,69,129],"equip":[7],"humanoid":[8,24],"robots":[9,25],"with":[10,39,124],"dynamic":[11,57,99],"manipulation":[12,36,100],"skills.":[13],"Such":[14],"skills":[15],"are":[16,51,92],"beneficial,":[17],"as":[18],"they":[19],"increase":[20],"the":[21,54,65,71,116,131],"dexterity":[22],"of":[23,30,35],"and":[26,46,68,101,110],"improve":[27,70,130],"their":[28],"handling":[29],"unforeseen":[31],"situations.":[32],"The":[33],"nature":[34],"poses":[37],"challenges":[38,50],"respect":[40],"environment":[42,66],"perception,":[43],"action":[44],"planning,":[45],"motion":[47,78],"control.":[48,73],"These":[49,90],"addressed":[52],"in":[53,94,137],"paper:":[55],"force/torque":[58],"(F/T)":[59],"observer":[60],"is":[61,80,127,135],"discussed":[62],"reconstruct":[64],"F/Ts":[67],"interaction":[72],"A":[74],"method":[75],"for":[76,98,104],"online":[77],"planning":[79],"investigated,":[81],"which":[82],"generates":[83],"trajectories":[84],"based":[85],"on":[86,115],"different":[87],"selection":[88],"criteria.":[89],"elements":[91],"integrated":[93],"design":[97,123],"experimentally":[102],"validated":[103],"two":[105],"tasks:":[106],"two-handed":[107],"ball":[108,112],"throwing":[109],"one-handed":[111],"catching.":[113],"Based":[114],"experimental":[117],"results,":[118],"modified":[120],"end":[121],"effector":[122],"intrinsic":[125],"compliance":[126],"proposed":[128],"system":[132],"performance":[133],"that":[134],"demonstrated":[136],"case":[138],"studies.":[139]},"counts_by_year":[{"year":2019,"cited_by_count":1},{"year":2014,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
