乐胖代购免代理版

{"id":"https://openalex.org/W1988609580","doi":"https://doi.org/10.1109/ichr.2004.1442678","title":"Whole-body cooperative balanced motion generation for reaching","display_name":"Whole-body cooperative balanced motion generation for reaching","publication_year":2005,"publication_date":"2005-07-27","ids":{"openalex":"https://openalex.org/W1988609580","doi":"https://doi.org/10.1109/ichr.2004.1442678","mag":"1988609580"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5005694475","display_name":"Keiji Nishiwaki","orcid":"https://orcid.org/0000-0001-5017-244X"},"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":"K. Nishiwaki","raw_affiliation_strings":["Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, National Institute for Advanced Industrial Science and Technology, Koto, Tokyo, Japan","institution_ids":["https://openalex.org/I73613424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071234434","display_name":"M. Kuga","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Kuga","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Bunkyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113812356","display_name":"S. Kagami","orcid":null},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"S. Kagami","raw_affiliation_strings":["Digital Human Research Center, AIST, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047218430","display_name":"Masayuki Inaba","orcid":"https://orcid.org/0000-0003-1273-1567"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"M. Inaba","raw_affiliation_strings":["Department of Mechano-Informatics, University of Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Mechano-Informatics, University of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103163892","display_name":"H. Inoue","orcid":"https://orcid.org/0000-0002-6522-0886"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"H. Inoue","raw_affiliation_strings":["Digital Human Research Center, AIST, Japan"],"affiliations":[{"raw_affiliation_string":"Digital Human Research Center, AIST, Japan","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":7.093,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":19,"citation_normalized_percentile":{"value":0.882941,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":86,"max":87},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998,"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":0.9998,"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":0.9932,"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":0.9877,"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/position","display_name":"Position (finance)","score":0.47600445},{"id":"https://openalex.org/keywords/heuristics","display_name":"Heuristics","score":0.45333204},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.42697504},{"id":"https://openalex.org/keywords/workspace","display_name":"Work space","score":0.4129585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6459182},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.61576295},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5644938},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.53510696},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5346194},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5030028},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5001285},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.47600445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47150272},{"id":"https://openalex.org/C127705205","wikidata":"https://www.wikidata.org/wiki/Q5748245","display_name":"Heuristics","level":2,"score":0.45333204},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.43471038},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.42697504},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.4129585},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40521428},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3493166},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16397566},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15039062},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/ichr.2004.1442678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[],"grants":[],"datasets":[],"versions":[],"referenced_works_count":15,"referenced_works":["https://openalex.org/W1874049655","https://openalex.org/W1909540243","https://openalex.org/W1917860510","https://openalex.org/W2074172217","https://openalex.org/W2108714391","https://openalex.org/W2114942020","https://openalex.org/W2117333560","https://openalex.org/W2127895608","https://openalex.org/W2147299197","https://openalex.org/W2152869188","https://openalex.org/W2156423353","https://openalex.org/W2165132313","https://openalex.org/W2528111950","https://openalex.org/W4255365153","https://openalex.org/W90051382"],"related_works":["https://openalex.org/W3195090107","https://openalex.org/W2371519816","https://openalex.org/W2369529107","https://openalex.org/W2329043542","https://openalex.org/W2109948066","https://openalex.org/W2043154226","https://openalex.org/W2026275902","https://openalex.org/W1999333556","https://openalex.org/W1992503747","https://openalex.org/W1678858522"],"abstract_inverted_index":{"This":[0,102],"paper":[1],"addresses":[2],"a":[3,7,58,91,170],"constructing":[4],"method":[5,103],"of":[6,15,43,72,75,100,132,152,186],"system":[8],"that":[9,56,121],"realizes":[10,57],"whole":[11,153],"body":[12,154],"reaching":[13,45,54,60,93,116,124,137,158],"motion":[14,155],"humanoids.":[16],"Humanoids":[17],"have":[18],"many":[19],"redundant":[20],"DOFs":[21],"for":[22,53,82,115,134],"reaching,":[23],"and":[24,47,90,148,150,167],"even":[25],"the":[26,33,73,118,123,184,187],"base":[27],"can":[28],"be":[29],"moved":[30],"by":[31,97],"making":[32],"robot":[34],"step.":[35],"Therefore":[36],"there":[37,48],"are":[38,49,160,178],"infinite":[39,51],"postures":[40,88],"as":[41,180],"solutions":[42,52],"final":[44,59,92,136,157],"posture,":[46,138],"also":[50],"trajectory":[55],"posture.":[61],"It":[62],"is,":[63],"however,":[64],"difficult":[65],"to":[66,105,143,156,163,182],"find":[67],"an":[68],"appropriate":[69],"solution":[70],"because":[71],"constraint":[74],"dynamical":[76],"balance,":[77],"relatively":[78],"narrow":[79],"movabIe":[80],"range":[81],"each":[83],"angle.":[84],"We":[85],"prepared":[86],"basic":[87,128],"heuristically,":[89],"posture":[94,129,133,159,174],"is":[95,113],"generated":[96],"modifying":[98],"one":[99],"them.":[101],"enables":[104],"implement":[106],"heuristics":[107],"easily,":[108],"such":[109,126],"as,":[110,127],"kneeling":[111],"down":[112],"suitable":[114],"near":[117],"ground.":[119],"Methods":[120],"compose":[122],"system,":[125],"selection,":[130],"modification":[131],"generating":[135],"balance":[139],"compensation,":[140],"footstep":[141],"planning":[142],"realize":[144],"desired":[145],"feet":[146],"position,":[147,166],"generation":[149],"execution":[151],"described.":[161],"Reaching":[162],"manually":[164],"set":[165],"picking":[168],"up":[169],"bat":[171],"at":[172],"various":[173],"using":[175],"visual":[176],"information":[177],"shown":[179],"experiments":[181],"show":[183],"performance":[185],"system.":[188]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W1988609580","counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-01-22T08:37:30.344952","created_date":"2016-06-24"}