{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,2,21]],"date-time":"2025-02-21T12:14:52Z","timestamp":1740140092927,"version":"3.37.3"},"reference-count":33,"publisher":"World Scientific Pub Co Pte Ltd","issue":"02","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2020,4]]},"abstract":"<jats:p> This paper presents a balance-centered planner for object re-posing. It uses Center-of-Mass (CoM) constraints to preserve robot stability and provides stable, IK-feasible, and collision-free upper-body poses, allowing the robot to complete dexterous object manipulation tasks with different objects. The technical contributions of the planner are two-fold. First, it evaluates the robot stability margin for each robot pose during manipulation planning to find a stable manipulation motion. Second, it provides an RRT-inspired task-related stability estimation used to compare different bipedal stances. Simulations and real-world experiments are performed with the HRP-5P humanoid robot, the 5th generation of the HRP robot family, to validate the planner and compare different robot stances and approaches for object re-posing. The experiment results suggest that the proposed planner provides robust behavior for the humanoid robot while performing re-posing tasks. <\/jats:p>","DOI":"10.1142\/s021984362050005x","type":"journal-article","created":{"date-parts":[[2019,12,12]],"date-time":"2019-12-12T06:52:14Z","timestamp":1576133534000},"page":"2050005","source":"Crossref","is-referenced-by-count":2,"title":["Re-posing Objects Considering Bipedal Stability Constraints: An Approach for Stability Preservation During Humanoid Manipulation"],"prefix":"10.1142","volume":"17","author":[{"given":"Daniel","family":"S\u00e1nchez","sequence":"first","affiliation":[{"name":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0058-2819","authenticated-orcid":false,"given":"Weiwei","family":"Wan","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan"},{"name":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fumio","family":"Kanehiro","sequence":"additional","affiliation":[{"name":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kensuke","family":"Harada","sequence":"additional","affiliation":[{"name":"Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyamacho, Toyonaka, Osaka, Japan"},{"name":"National Institute of AIST, Umezono 1-1-1, Tsukuba, Ibaraki, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2020,1,31]]},"reference":[{"key":"S021984362050005XBIB001","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363538"},{"key":"S021984362050005XBIB002","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2016.2517147"},{"key":"S021984362050005XBIB003","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2896465"},{"key":"S021984362050005XBIB004","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74666-1_17"},{"key":"S021984362050005XBIB005","doi-asserted-by":"publisher","DOI":"10.1109\/MEX.1986.4307016"},{"key":"S021984362050005XBIB006","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126214"},{"key":"S021984362050005XBIB007","volume-title":"Biped Locomotion: Dynamics, Stability, Control and Application","volume":"7","author":"Vukobratovic M.","year":"2012"},{"key":"S021984362050005XBIB008","doi-asserted-by":"publisher","DOI":"10.1109\/IRDS.2002.1041658"},{"key":"S021984362050005XBIB009","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.933139"},{"key":"S021984362050005XBIB010","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2001.932631"},{"key":"S021984362050005XBIB011","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-015-9509-1"},{"key":"S021984362050005XBIB012","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916653815"},{"key":"S021984362050005XBIB013","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843617500098"},{"key":"S021984362050005XBIB014","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803266"},{"key":"S021984362050005XBIB015","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2016.7523667"},{"issue":"1","key":"S021984362050005XBIB016","first-page":"413","volume":"17","author":"Shafiee-Ashtiani M.","year":"2017","journal-title":"Modares Mech. 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