{"id":"https://openalex.org/W2908748505","doi":"https://doi.org/10.1080/01969722.2018.1552858","title":"Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach","display_name":"Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach","publication_year":2018,"publication_date":"2018-11-17","ids":{"openalex":"https://openalex.org/W2908748505","doi":"https://doi.org/10.1080/01969722.2018.1552858","mag":"2908748505"},"language":"en","primary_location":{"id":"doi:10.1080/01969722.2018.1552858","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01969722.2018.1552858","pdf_url":null,"source":{"id":"https://openalex.org/S117436046","display_name":"Cybernetics & Systems","issn_l":"0196-9722","issn":["0196-9722","1087-6553"],"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":"Cybernetics and Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/10016/30200","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5060224561","display_name":"Concepci\u00f3n A. Monje","orcid":"https://orcid.org/0000-0001-8295-127X"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Concepci\u00f3n A. Monje","raw_affiliation_strings":["Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101960669","display_name":"Santiago Mart\u00ednez","orcid":"https://orcid.org/0000-0003-3539-4583"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Santiago Martinez","raw_affiliation_strings":["Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029583450","display_name":"Paolo Pierro","orcid":null},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Paolo Pierro","raw_affiliation_strings":["Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038098758","display_name":"Carlos Balaguer","orcid":"https://orcid.org/0000-0003-4864-4625"},"institutions":[{"id":"https://openalex.org/I50357001","display_name":"Universidad Carlos III de Madrid","ror":"https://ror.org/03ths8210","country_code":"ES","type":"education","lineage":["https://openalex.org/I50357001"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Carlos Balaguer","raw_affiliation_strings":["Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Lab, University Carlos III of Madrid, Madrid, Legan\u00e9s, Spain","institution_ids":["https://openalex.org/I50357001"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5101960669"],"corresponding_institution_ids":["https://openalex.org/I50357001"],"apc_list":null,"apc_paid":null,"fwci":0.2164,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.53686914,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"49","issue":"7-8","first_page":"521","last_page":"538"},"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":0.9987999796867371,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9829999804496765,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.9340664148330688},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.6841920614242554},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6713604927062988},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.588698148727417},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5580543875694275},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49965667724609375},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4958384931087494},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45824572443962097},{"id":"https://openalex.org/keywords/dynamic-balance","display_name":"Dynamic balance","score":0.4252334237098694},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4195399582386017},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.39248669147491455},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37929531931877136},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.37453463673591614},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2851458191871643},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.12436529994010925},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12049943208694458}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.9340664148330688},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.6841920614242554},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6713604927062988},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.588698148727417},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5580543875694275},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49965667724609375},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4958384931087494},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45824572443962097},{"id":"https://openalex.org/C166151169","wikidata":"https://www.wikidata.org/wiki/Q16946937","display_name":"Dynamic balance","level":2,"score":0.4252334237098694},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4195399582386017},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.39248669147491455},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37929531931877136},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.37453463673591614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2851458191871643},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.12436529994010925},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12049943208694458},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1080/01969722.2018.1552858","is_oa":false,"landing_page_url":"https://doi.org/10.1080/01969722.2018.1552858","pdf_url":null,"source":{"id":"https://openalex.org/S117436046","display_name":"Cybernetics & Systems","issn_l":"0196-9722","issn":["0196-9722","1087-6553"],"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":"Cybernetics and Systems","raw_type":"journal-article"},{"id":"pmh:oai:dnet:earchivo____::47855c80c3031454e2bee32a46574ce7","is_oa":true,"landing_page_url":"http://hdl.handle.net/10016/30200","pdf_url":"http://hdl.handle.net/10016/30200","source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:dnet:earchivo____::47855c80c3031454e2bee32a46574ce7","is_oa":true,"landing_page_url":"http://hdl.handle.net/10016/30200","pdf_url":"http://hdl.handle.net/10016/30200","source":{"id":"https://openalex.org/S4306402641","display_name":"LA Referencia (Red Federada de Repositorios Institucionales de Publicaciones Cient\u00edficas)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4383465926","host_organization_name":"LA Referencia","host_organization_lineage":["https://openalex.org/I4383465926"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1936523210","display_name":null,"funder_award_id":"S2013","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G2152021637","display_name":null,"funder_award_id":"DPI2013-47944-C4-1-R","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G2542914776","display_name":"RoboCom++ : Rethinking Robotics for the Robot Companion of the future","funder_award_id":"ANR-16-PILO-0001","funder_id":"https://openalex.org/F4320320883","funder_display_name":"Agence Nationale de la Recherche"},{"id":"https://openalex.org/G3216000229","display_name":null,"funder_award_id":"S2013","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"},{"id":"https://openalex.org/G4273671738","display_name":null,"funder_award_id":"S2013/MIT-2748","funder_id":"https://openalex.org/F4320321837","funder_display_name":"Ministerio de Econom\u00eda y Competitividad"},{"id":"https://openalex.org/G5615206813","display_name":null,"funder_award_id":"S2013/MIT-2748","funder_id":"https://openalex.org/F4320313831","funder_display_name":"Comunidad de Madrid"}],"funders":[{"id":"https://openalex.org/F4320313831","display_name":"Comunidad de Madrid","ror":null},{"id":"https://openalex.org/F4320320883","display_name":"Agence Nationale de la Recherche","ror":"https://ror.org/00rbzpz17"},{"id":"https://openalex.org/F4320321837","display_name":"Ministerio de Econom\u00eda y Competitividad","ror":"https://ror.org/034900433"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2908748505.pdf"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1586658805","https://openalex.org/W1922011966","https://openalex.org/W1939926247","https://openalex.org/W1967365365","https://openalex.org/W2044951073","https://openalex.org/W2080421646","https://openalex.org/W2096918223","https://openalex.org/W2107618938","https://openalex.org/W2107952743","https://openalex.org/W2120848703","https://openalex.org/W2129754669","https://openalex.org/W2131232094","https://openalex.org/W2135929901","https://openalex.org/W2136103510","https://openalex.org/W2141377539","https://openalex.org/W2142992961","https://openalex.org/W2145788561","https://openalex.org/W2160555349","https://openalex.org/W3146490120","https://openalex.org/W4231762981"],"related_works":["https://openalex.org/W4386186730","https://openalex.org/W2097240936","https://openalex.org/W2024732388","https://openalex.org/W3197982544","https://openalex.org/W2495261280","https://openalex.org/W4318681801","https://openalex.org/W2968985559","https://openalex.org/W2510926320","https://openalex.org/W2054644662","https://openalex.org/W1549943573"],"abstract_inverted_index":{"One":[0],"of":[1,49,69,72],"the":[2,25,70,83],"most":[3],"important":[4],"and":[5,80,87],"complex":[6],"tasks":[7],"for":[8,27],"a":[9,17,29,46],"humanoid":[10,38,50,84],"robot":[11],"is":[12,43],"to":[13,33,54],"avoid":[14],"overturning":[15],"during":[16],"bipedal":[18],"gait.":[19],"This":[20],"work":[21],"aims":[22],"at":[23],"setting":[24],"base":[26],"designing":[28],"general":[30],"balance":[31],"controller":[32],"be":[34,55],"used":[35,56],"with":[36],"any":[37],"robot.":[39],"In":[40,60],"addition,":[41],"it":[42],"based":[44],"on":[45],"strong":[47],"simplification":[48],"model":[51],"which":[52],"attempts":[53],"in":[57,78],"real-time":[58],"applications.":[59],"particular,":[61],"several":[62],"\u201cstability":[63],"zones\u201d":[64],"are":[65,76],"defined":[66],"as":[67],"function":[68],"criticalness":[71],"balance.":[73],"The":[74],"results":[75],"presented":[77],"simulation":[79],"experimentally,":[81],"using":[82],"platforms":[85],"HOAP-3":[86],"TEO.":[88]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2019-01-25T00:00:00"}
