{"id":"https://openalex.org/W2110811984","doi":"https://doi.org/10.1177/0278364905057217","title":"The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up","display_name":"The Human-size Humanoid Robot That Can Walk, Lie Down and Get Up","publication_year":2005,"publication_date":"2005-09-01","ids":{"openalex":"https://openalex.org/W2110811984","doi":"https://doi.org/10.1177/0278364905057217","mag":"2110811984"},"language":"en","primary_location":{"id":"doi:10.1177/0278364905057217","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905057217","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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/A5001711571","display_name":"Hirohisa Hirukawa","orcid":null},"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":true,"raw_author_name":"Hirohisa Hirukawa","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102768470","display_name":"Shuuji Kajita","orcid":"https://orcid.org/0000-0001-8188-2209"},"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":"Shuuji Kajita","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, 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 Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043888149","display_name":"Kenji Kaneko","orcid":"https://orcid.org/0000-0002-1888-8787"},"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":"Kenji Kaneko","raw_affiliation_strings":["National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Advanced Industrial Science and Technology (AIST),                         Tsukuba Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki, 305-8568 Japan","institution_ids":["https://openalex.org/I73613424"]},{"raw_affiliation_string":"National Institute of Advanced Industrial Science and technology (AIST), Tsukuba Central-2, 1-1-1, Umezono, Tsukuba, Ibaraki, 305-8568, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012865888","display_name":"Takakatsu Isozumi","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Takakatsu Isozumi","raw_affiliation_strings":["Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan","Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan","institution_ids":[]},{"raw_affiliation_string":"Kawada Industries, Inc., 122-1 Hagadai, Haga, Tochigi 321-3325 Japan#TAB#","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5001711571"],"corresponding_institution_ids":["https://openalex.org/I73613424"],"apc_list":null,"apc_paid":null,"fwci":5.0838,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.95346429,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"24","issue":"9","first_page":"755","last_page":"769"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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":0.98580002784729,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9674999713897705,"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/humanoid-robot","display_name":"Humanoid robot","score":0.871121883392334},{"id":"https://openalex.org/keywords/digital-pattern-generator","display_name":"Digital pattern generator","score":0.6110479235649109},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5810867547988892},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.5084847211837769},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4977872371673584},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.45219218730926514},{"id":"https://openalex.org/keywords/lying","display_name":"Lying","score":0.44579246640205383},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42924410104751587},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40318816900253296},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36998552083969116},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3495652675628662},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3453562259674072},{"id":"https://openalex.org/keywords/power","display_name":"Power (physics)","score":0.1913233995437622},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12283596396446228}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.871121883392334},{"id":"https://openalex.org/C151346624","wikidata":"https://www.wikidata.org/wiki/Q5276129","display_name":"Digital pattern generator","level":3,"score":0.6110479235649109},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5810867547988892},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.5084847211837769},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4977872371673584},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.45219218730926514},{"id":"https://openalex.org/C119421448","wikidata":"https://www.wikidata.org/wiki/Q2268776","display_name":"Lying","level":2,"score":0.44579246640205383},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42924410104751587},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40318816900253296},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36998552083969116},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3495652675628662},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3453562259674072},{"id":"https://openalex.org/C163258240","wikidata":"https://www.wikidata.org/wiki/Q25342","display_name":"Power (physics)","level":2,"score":0.1913233995437622},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12283596396446228},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0},{"id":"https://openalex.org/C165005293","wikidata":"https://www.wikidata.org/wiki/Q1074500","display_name":"Chip","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0278364905057217","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0278364905057217","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","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":28,"referenced_works":["https://openalex.org/W1507570408","https://openalex.org/W1581909396","https://openalex.org/W1741407270","https://openalex.org/W1838474595","https://openalex.org/W1968722031","https://openalex.org/W2002804012","https://openalex.org/W2036484113","https://openalex.org/W2070507784","https://openalex.org/W2101741793","https://openalex.org/W2105533768","https://openalex.org/W2107063340","https://openalex.org/W2120553010","https://openalex.org/W2123477693","https://openalex.org/W2124838131","https://openalex.org/W2135406175","https://openalex.org/W2137300190","https://openalex.org/W2142132924","https://openalex.org/W2142992961","https://openalex.org/W2143454724","https://openalex.org/W2148211050","https://openalex.org/W2149606028","https://openalex.org/W2158678516","https://openalex.org/W2159121504","https://openalex.org/W2159593326","https://openalex.org/W2163781471","https://openalex.org/W2576405470","https://openalex.org/W6630531309","https://openalex.org/W6683580863"],"related_works":["https://openalex.org/W2632090827","https://openalex.org/W2593698653","https://openalex.org/W2733539336","https://openalex.org/W2689112224","https://openalex.org/W2160792351","https://openalex.org/W1593091151","https://openalex.org/W1965097389","https://openalex.org/W2651176679","https://openalex.org/W2151114014","https://openalex.org/W1587642588"],"abstract_inverted_index":{"In":[0],"this":[1],"paper":[2],"we":[3],"present":[4],"a":[5,38,52,57,61,79,83],"humanoid":[6,31],"robot,":[7],"HRP-2P,":[8],"which":[9],"can":[10,41],"walk,":[11],"lie":[12,42],"down":[13,43,66],"and":[14,24,40,44,60,67,82],"get":[15,45],"up.":[16,46],"We":[17],"believe":[18],"that":[19,33],"HRP-2P":[20],"(154":[21],"cm":[22],"height":[23],"58":[25],"kg":[26],"weight)":[27],"is":[28,34,49],"the":[29,35],"first":[30],"robot":[32],"size":[36],"of":[37],"human":[39],"Biped":[47],"walking":[48,53],"realized":[50],"by":[51,74],"pattern":[54],"generator":[55],"using":[56],"preview":[58],"control":[59],"feedback":[62],"control.":[63],"The":[64],"lying":[65],"getting":[68],"up":[69],"motions":[70],"were":[71],"made":[72],"possible":[73],"HRP-2P\u2019s":[75],"compact":[76],"body":[77],"with":[78],"waist":[80],"joint":[81],"novel":[84],"motion":[85],"controller.":[86]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}