{"id":"https://openalex.org/W1966760745","doi":"https://doi.org/10.1163/156855308x324776","title":"Highly Precise Dynamic Simulation Environment for Humanoid Robots","display_name":"Highly Precise Dynamic Simulation Environment for Humanoid Robots","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W1966760745","doi":"https://doi.org/10.1163/156855308x324776","mag":"1966760745"},"language":"en","primary_location":{"id":"doi:10.1163/156855308x324776","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x324776","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced 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/A5113451046","display_name":"Joshua G. Hale","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Joshua G. Hale","raw_affiliation_strings":["a    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan;,  Email: jhale@atr.jp","ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan;, Email: jhale@atr.jp"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"a    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan;,  Email: jhale@atr.jp","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan;, Email: jhale@atr.jp","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000130820","display_name":"Benjamin Hohl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Benjamin Hohl","raw_affiliation_strings":["b    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Institut f\u00fcr Technische Informatik (ITEC), Universit\u00e4t Karlsruhe, 76131 Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"b    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Institut f\u00fcr Technische Informatik (ITEC), Universit\u00e4t Karlsruhe, 76131 Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073009713","display_name":"Sang-Ho Hyon","orcid":null},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Sang-Ho Hyon","raw_affiliation_strings":["c    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"c    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","institution_ids":["https://openalex.org/I4210086780"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042074952","display_name":"Takamitsu Matsubara","orcid":"https://orcid.org/0000-0003-3545-4814"},"institutions":[{"id":"https://openalex.org/I75917431","display_name":"Nara Institute of Science and Technology","ror":"https://ror.org/05bhada84","country_code":"JP","type":"education","lineage":["https://openalex.org/I75917431"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takamitsu Matsubara","raw_affiliation_strings":["d    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0101, Japan","ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0101, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"d    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0101, Japan","institution_ids":["https://openalex.org/I75917431"]},{"raw_affiliation_string":"ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Nara Institute of Science and Technology, 8916-5 Takayama-cho, Ikoma, Nara 630-0101, Japan","institution_ids":["https://openalex.org/I75917431"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069196546","display_name":"Eduardo Martin Moraud","orcid":"https://orcid.org/0000-0002-6148-7065"},"institutions":[{"id":"https://openalex.org/I70768539","display_name":"\u00c9cole Nationale Sup\u00e9rieure des Mines de Paris","ror":"https://ror.org/04y8cs423","country_code":"FR","type":"education","lineage":["https://openalex.org/I190752583","https://openalex.org/I2746051580","https://openalex.org/I70768539"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Eduardo Martin Moraud","raw_affiliation_strings":["e    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Ecole Nationale Sup\u00e9rieure des Mines de Paris, 60 Bd St Michel, 75006 Paris, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"e    ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan, Ecole Nationale Sup\u00e9rieure des Mines de Paris, 60 Bd St Michel, 75006 Paris, France","institution_ids":["https://openalex.org/I70768539"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048975019","display_name":"Gordon Cheng","orcid":"https://orcid.org/0000-0003-0770-8717"},"institutions":[{"id":"https://openalex.org/I4210086780","display_name":"Japan Science and Technology Agency","ror":"https://ror.org/00097mb19","country_code":"JP","type":"government","lineage":["https://openalex.org/I4210086780"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gordon Cheng","raw_affiliation_strings":["f    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"f    ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","institution_ids":["https://openalex.org/I4210086780"]},{"raw_affiliation_string":"ICORP Computational Brain Project, Japan Science and Technology Agency, 4-1-8 Honcho, Kawaguchi, Saitama 351-0198, Japan, ATR Computational Neuroscience Laboratories, 2-2-2 Hikaridai Seika-cho, Soraku-gun, Kyoto 619-0288, Japan","institution_ids":["https://openalex.org/I4210086780"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7369,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.72135885,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"22","issue":"10","first_page":"1075","last_page":"1105"},"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/T12290","display_name":"Human Motion and Animation","score":0.9898999929428101,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9896000027656555,"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":0.8413689732551575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6720021963119507},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6044301390647888},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.5705128908157349},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5472287535667419},{"id":"https://openalex.org/keywords/divergence","display_name":"Divergence (linguistics)","score":0.4669175148010254},{"id":"https://openalex.org/keywords/interface","display_name":"Interface (matter)","score":0.43729519844055176},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.41195017099380493},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.40714186429977417},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39016175270080566}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8413689732551575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6720021963119507},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6044301390647888},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.5705128908157349},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5472287535667419},{"id":"https://openalex.org/C207390915","wikidata":"https://www.wikidata.org/wiki/Q1230525","display_name":"Divergence (linguistics)","level":2,"score":0.4669175148010254},{"id":"https://openalex.org/C113843644","wikidata":"https://www.wikidata.org/wiki/Q901882","display_name":"Interface (matter)","level":4,"score":0.43729519844055176},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.41195017099380493},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.40714186429977417},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39016175270080566},{"id":"https://openalex.org/C157915830","wikidata":"https://www.wikidata.org/wiki/Q2928001","display_name":"Bubble","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.0},{"id":"https://openalex.org/C129307140","wikidata":"https://www.wikidata.org/wiki/Q6795880","display_name":"Maximum bubble pressure method","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855308x324776","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x324776","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W639693478","https://openalex.org/W1494775047","https://openalex.org/W1583497301","https://openalex.org/W1837054799","https://openalex.org/W1939926247","https://openalex.org/W1971609423","https://openalex.org/W1987574258","https://openalex.org/W2007677977","https://openalex.org/W2051102518","https://openalex.org/W2083160341","https://openalex.org/W2088677124","https://openalex.org/W2096498654","https://openalex.org/W2113115376","https://openalex.org/W2116593178","https://openalex.org/W2129879687","https://openalex.org/W2148292738","https://openalex.org/W2155625664","https://openalex.org/W2155823170","https://openalex.org/W2162900923","https://openalex.org/W2164836127","https://openalex.org/W2168442106","https://openalex.org/W2234650683","https://openalex.org/W2983916874","https://openalex.org/W3003958395"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W2743859443","https://openalex.org/W2326995835","https://openalex.org/W165915117","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W2477150073","https://openalex.org/W2019547100","https://openalex.org/W1984314158"],"abstract_inverted_index":{"In":[0],"this":[1,86],"paper":[2],"we":[3,140,190],"present":[4,203],"a":[5,12,43,48,169,180,232],"simulation":[6,30,185,209],"environment":[7,186],"for":[8,35,53,92,96,228],"humanoid":[9,40,97,197],"robots":[10],"with":[11,51,118,210],"precise":[13],"and":[14,21,37,42,55,83,110,173,189,200,217,231],"efficient":[15,109],"method":[16],"of":[17,61,75,123,133,150,158,208],"handling":[18],"ground":[19,69,94],"contact,":[20],"experiments":[22,144,204],"empirically":[23,130],"validating":[24],"the":[25,62,72,121,124,134,151,159,206,219,224],"simulator.":[26],"Highly":[27],"accurate":[28],"dynamic":[29],"is":[31,107,116,127,165,174],"an":[32,90,104,147],"essential":[33],"tool":[34],"research":[36],"development":[38],"in":[39,79,163],"robotics,":[41],"simulator":[44],"should":[45],"ideally":[46],"provide":[47],"transparent":[49],"interface":[50],"pathways":[52],"control":[54],"sensing":[56],"information":[57],"identical":[58,211],"to":[59,81,102,112,120,168,177,194],"those":[60],"actual":[63],"robot(s)":[64],"it":[65,193],"models.":[66],"We":[67,202],"identified":[68],"contact":[70,95,221],"as":[71,179],"chief":[73],"source":[74],"divergence":[76],"from":[77],"reality":[78],"work":[80],"date":[82],"have":[84,141,191],"tackled":[85],"problem":[87],"by":[88,214],"developing":[89],"algorithm":[91,105,115],"resolving":[93],"robots.":[98],"Our":[99],"objective":[100],"was":[101],"produce":[103],"that":[106],"accurate,":[108],"easy":[111,176],"implement.":[113],"The":[114,184],"general":[117],"respect":[119],"complexity":[122],"foot":[125],"model;":[126],"based":[128],"on":[129],"measurable":[131],"characteristics":[132],"foot\u2013ground":[135],"interaction,":[136],"i.e.,":[137],"friction,":[138],"which":[139],"obtained":[142],"using":[143],"described;":[145],"provides":[146],"exact":[148],"implementation":[149],"Coulomb":[152],"friction":[153,160],"model":[154],"(avoiding":[155],"polyhedral":[156],"approximation":[157],"cone);":[161],"runs":[162],"real-time;":[164],"also":[166],"amenable":[167],"straightforward":[170],"accuracy\u2013speed":[171],"trade-off;":[172],"relatively":[175],"implement":[178],"constraint":[181],"selection":[182],"method.":[183,234],"embodies":[187],"generality,":[188],"applied":[192],"two":[195],"different":[196],"robots,":[198,216],"Hoap-2":[199],"CB.":[201],"comparing":[205,218],"results":[207],"motions":[212],"performed":[213],"real":[215],"full":[220],"resolution":[222],"algorithm,":[223],"modification":[225],"trading":[226],"accuracy":[227],"computational":[229],"speed":[230],"penalty-based":[233]},"counts_by_year":[{"year":2016,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}