{"id":"https://openalex.org/W4405787114","doi":"https://doi.org/10.1109/iros58592.2024.10802375","title":"Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3","display_name":"Real-time Perceptive Motion Control using Control Barrier Functions with Analytical Smoothing for Six-Wheeled-Telescopic-Legged Robot Tachyon 3","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405787114","doi":"https://doi.org/10.1109/iros58592.2024.10802375"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802375","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"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/A5021878177","display_name":"Noriaki Takasugi","orcid":"https://orcid.org/0000-0002-0143-8747"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Noriaki Takasugi","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074564655","display_name":"Masaya Kinoshita","orcid":"https://orcid.org/0009-0004-2343-7085"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masaya Kinoshita","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010037596","display_name":"Yasuhisa Kamikawa","orcid":"https://orcid.org/0000-0002-5054-620X"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasuhisa Kamikawa","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031076405","display_name":"Ryoichi Tsuzaki","orcid":null},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryoichi Tsuzaki","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020948537","display_name":"Atsushi Sakamoto","orcid":"https://orcid.org/0000-0001-5710-1900"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsushi Sakamoto","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082923388","display_name":"Toshimitsu Kai","orcid":null},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Toshimitsu Kai","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003449516","display_name":"Yasunori Kawanami","orcid":"https://orcid.org/0009-0002-6426-3451"},"institutions":[],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yasunori Kawanami","raw_affiliation_strings":["Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075"],"affiliations":[{"raw_affiliation_string":"Sony Group Corporation, Minato-ku,Tokyo,Japan,108-0075","institution_ids":[]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":0,"max":77},"biblio":{"volume":null,"issue":null,"first_page":"6802","last_page":"6809"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9784,"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":0.9784,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9502,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9341,"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/smoothing","display_name":"Smoothing","score":0.77397704},{"id":"https://openalex.org/keywords/tachyon","display_name":"Tachyon","score":0.6285909}],"concepts":[{"id":"https://openalex.org/C3770464","wikidata":"https://www.wikidata.org/wiki/Q775963","display_name":"Smoothing","level":2,"score":0.77397704},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6355121},{"id":"https://openalex.org/C42458899","wikidata":"https://www.wikidata.org/wiki/Q41995","display_name":"Tachyon","level":2,"score":0.6285909},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.62549734},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.57496536},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.56698954},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5361917},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.43702582},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43211278},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.43083242},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33776945},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33772767},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32153386},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21598634},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.20520037},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06802037}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802375","pdf_url":null,"source":{"id":"https://openalex.org/S4363607734","display_name":"2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_indexed_in_scopus":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.48,"display_name":"Affordable and clean energy"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4385196987","https://openalex.org/W4317826762","https://openalex.org/W2979398413","https://openalex.org/W2762381663","https://openalex.org/W2741909783","https://openalex.org/W2538037439","https://openalex.org/W218732962","https://openalex.org/W1886477626","https://openalex.org/W1540467731","https://openalex.org/W1532677580"],"abstract_inverted_index":null,"abstract_inverted_index_v3":null,"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4405787114","counts_by_year":[],"updated_date":"2025-04-15T22:15:13.537486","created_date":"2024-12-26"}