{"id":"https://openalex.org/W3003449204","doi":"https://doi.org/10.1142/s021984362050005x","title":"Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation","display_name":"Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation","publication_year":2019,"publication_date":"2019-12-12","ids":{"openalex":"https://openalex.org/W3003449204","doi":"https://doi.org/10.1142/s021984362050005x","mag":"3003449204"},"language":"en","primary_location":{"id":"doi:10.1142/s021984362050005x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984362050005x","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/A5101750996","display_name":"Daniel S\u00e1nchez","orcid":"https://orcid.org/0000-0002-1106-3408"},"institutions":[{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Daniel S\u00e1nchez","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087787651","display_name":"Weiwei Wan","orcid":"https://orcid.org/0000-0002-0058-2819"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Weiwei Wan","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan","National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"],"raw_orcid":"https://orcid.org/0000-0002-0058-2819","affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091136016","display_name":"Fumio Kanehiro","orcid":"https://orcid.org/0000-0002-0277-3467"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Fumio Kanehiro","raw_affiliation_strings":["National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5016270703","display_name":"Kensuke Harada","orcid":"https://orcid.org/0000-0002-7576-756X"},"institutions":[{"id":"https://openalex.org/I73613424","display_name":"National Institute of Advanced Industrial Science and Technology","ror":"https://ror.org/01703db54","country_code":"JP","type":"government","lineage":["https://openalex.org/I73613424"]},{"id":"https://openalex.org/I98285908","display_name":"The University of Osaka","ror":"https://ror.org/035t8zc32","country_code":"JP","type":"education","lineage":["https://openalex.org/I98285908"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kensuke Harada","raw_affiliation_strings":["Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan","National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan","institution_ids":["https://openalex.org/I98285908"]},{"raw_affiliation_string":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan","institution_ids":["https://openalex.org/I73613424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5087787651"],"corresponding_institution_ids":["https://openalex.org/I73613424","https://openalex.org/I98285908"],"apc_list":null,"apc_paid":null,"fwci":0.2904,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.56361949,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"17","issue":"02","first_page":"2050005","last_page":"2050005"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9968000054359436,"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":0.9850999712944031,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8900908827781677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7608582377433777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7224371433258057},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6546720266342163},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6487200260162354},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5519923567771912},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5440652966499329},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5196936726570129},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.43635791540145874},{"id":"https://openalex.org/keywords/margin","display_name":"Margin (machine learning)","score":0.425855427980423},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3487044870853424},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.34734857082366943},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.273593544960022},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09092244505882263},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.0898982584476471}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8900908827781677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7608582377433777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7224371433258057},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6546720266342163},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6487200260162354},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5519923567771912},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5440652966499329},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5196936726570129},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43635791540145874},{"id":"https://openalex.org/C774472","wikidata":"https://www.wikidata.org/wiki/Q6760393","display_name":"Margin (machine learning)","level":2,"score":0.425855427980423},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3487044870853424},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.34734857082366943},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.273593544960022},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09092244505882263},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0898982584476471},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1142/s021984362050005x","is_oa":false,"landing_page_url":"https://doi.org/10.1142/s021984362050005x","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":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.41999998688697815}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1545656448","https://openalex.org/W1560450306","https://openalex.org/W1838474595","https://openalex.org/W1939926247","https://openalex.org/W1974581510","https://openalex.org/W1992338761","https://openalex.org/W2005805981","https://openalex.org/W2106863585","https://openalex.org/W2114942020","https://openalex.org/W2116173495","https://openalex.org/W2117425572","https://openalex.org/W2126067183","https://openalex.org/W2132089714","https://openalex.org/W2161427949","https://openalex.org/W2214607041","https://openalex.org/W2217960268","https://openalex.org/W2225490378","https://openalex.org/W2461181622","https://openalex.org/W2479006220","https://openalex.org/W2562466961","https://openalex.org/W2570779523","https://openalex.org/W2600861375","https://openalex.org/W2610446193","https://openalex.org/W2614308505","https://openalex.org/W2739203437","https://openalex.org/W2788249996","https://openalex.org/W2796766656","https://openalex.org/W2804941773","https://openalex.org/W2808784381","https://openalex.org/W2913971027","https://openalex.org/W3098310617","https://openalex.org/W3098436915","https://openalex.org/W3102408685","https://openalex.org/W4247031047"],"related_works":["https://openalex.org/W2543019745","https://openalex.org/W2171912896","https://openalex.org/W2531662632","https://openalex.org/W4247750500","https://openalex.org/W2356070666","https://openalex.org/W2540452882","https://openalex.org/W2778262232","https://openalex.org/W2151682110","https://openalex.org/W2910269320","https://openalex.org/W2152492056"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,62],"balance-centered":[4],"planner":[5,43,102,120],"for":[6,53,110,124],"object":[7,32,111],"re-posing.":[8,112],"It":[9],"uses":[10],"Center-of-Mass":[11],"(CoM)":[12],"constraints":[13],"to":[14,29,60,75,99],"preserve":[15],"robot":[16,28,50,55,97,106,127],"stability":[17,51,72],"and":[18,22,81,103,108],"provides":[19,68,121],"stable,":[20],"IK-feasible,":[21],"collision-free":[23],"upper-body":[24],"poses,":[25],"allowing":[26],"the":[27,42,49,87,91,95,101,118,125],"complete":[30],"dexterous":[31],"manipulation":[33,58,64],"tasks":[34],"with":[35,86],"different":[36,77,105],"objects.":[37],"The":[38,113],"technical":[39],"contributions":[40],"of":[41,94],"are":[44,84],"two-fold.":[45],"First,":[46],"it":[47,67],"evaluates":[48],"margin":[52],"each":[54],"pose":[56],"during":[57],"planning":[59],"find":[61],"stable":[63],"motion.":[65],"Second,":[66],"an":[69],"RRT-inspired":[70],"task-related":[71],"estimation":[73],"used":[74],"compare":[76,104],"bipedal":[78],"stances.":[79],"Simulations":[80],"real-world":[82],"experiments":[83],"performed":[85],"HRP-5P":[88],"humanoid":[89,126],"robot,":[90],"5th":[92],"generation":[93],"HRP":[96],"family,":[98],"validate":[100],"stances":[107],"approaches":[109],"experiment":[114],"results":[115],"suggest":[116],"that":[117],"proposed":[119],"robust":[122],"behavior":[123],"while":[128],"performing":[129],"re-posing":[130],"tasks.":[131]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
