{"id":"https://openalex.org/W4293094638","doi":"https://doi.org/10.1109/aim52237.2022.9863272","title":"Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots","display_name":"Optimal Modulation of Joint Stiffness with Guaranteed Stability for Quadruped Robots","publication_year":2022,"publication_date":"2022-07-11","ids":{"openalex":"https://openalex.org/W4293094638","doi":"https://doi.org/10.1109/aim52237.2022.9863272"},"language":"en","primary_location":{"id":"doi:10.1109/aim52237.2022.9863272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863272","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5101683160","display_name":"Xinyuan Zhao","orcid":"https://orcid.org/0000-0003-1770-631X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Xinyuan Zhao","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028627988","display_name":"Yuqiang Wu","orcid":"https://orcid.org/0000-0002-2608-7840"},"institutions":[{"id":"https://openalex.org/I4210093653","display_name":"Midea Group (China)","ror":"https://ror.org/006fm2278","country_code":"CN","type":"company","lineage":["https://openalex.org/I4210093653"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqiang Wu","raw_affiliation_strings":["Midea Group Co.,Ltd,Mechatronics Research Institute, Corporate Research Center,Foshan,China","Mechatronics Research Institute, Corporate Research Center, Midea Group Co.,Ltd, Foshan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Midea Group Co.,Ltd,Mechatronics Research Institute, Corporate Research Center,Foshan,China","institution_ids":["https://openalex.org/I4210093653"]},{"raw_affiliation_string":"Mechatronics Research Institute, Corporate Research Center, Midea Group Co.,Ltd, Foshan, China","institution_ids":["https://openalex.org/I4210093653"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Istituto Italiano di Tecnologia,Humanoid and Human Centered Mechatronics Research Line,Genova,Italy,16163","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1489","last_page":"1496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.998199999332428,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9968000054359436,"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/control-theory","display_name":"Control theory (sociology)","score":0.7891911864280701},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7686619758605957},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.7337069511413574},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.704029381275177},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.6430749893188477},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6036938428878784},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.5709201693534851},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5525192022323608},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.550295352935791},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5345973372459412},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5261834859848022},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5230818390846252},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4872697591781616},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.469083696603775},{"id":"https://openalex.org/keywords/modulation","display_name":"Modulation (music)","score":0.4611186981201172},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.4561272859573364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2894623279571533},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.16656947135925293},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.15484541654586792},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.1288096308708191},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11481687426567078},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10350638628005981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.08596101403236389}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7891911864280701},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7686619758605957},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.7337069511413574},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.704029381275177},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.6430749893188477},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6036938428878784},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.5709201693534851},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5525192022323608},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.550295352935791},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5345973372459412},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5261834859848022},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5230818390846252},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4872697591781616},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.469083696603775},{"id":"https://openalex.org/C123079801","wikidata":"https://www.wikidata.org/wiki/Q750240","display_name":"Modulation (music)","level":2,"score":0.4611186981201172},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.4561272859573364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2894623279571533},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.16656947135925293},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.15484541654586792},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.1288096308708191},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11481687426567078},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10350638628005981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.08596101403236389},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim52237.2022.9863272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim52237.2022.9863272","pdf_url":null,"source":{"id":"https://openalex.org/S4363608109","display_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":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":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W86892992","https://openalex.org/W1523815250","https://openalex.org/W1967377907","https://openalex.org/W1977375951","https://openalex.org/W2046636826","https://openalex.org/W2057538835","https://openalex.org/W2058401197","https://openalex.org/W2118387366","https://openalex.org/W2141042553","https://openalex.org/W2300435054","https://openalex.org/W2470094176","https://openalex.org/W2517641405","https://openalex.org/W2612636433","https://openalex.org/W2618245409","https://openalex.org/W2738799195","https://openalex.org/W2782864198","https://openalex.org/W2783350322","https://openalex.org/W2901522995","https://openalex.org/W2909553221","https://openalex.org/W2912365230","https://openalex.org/W3003609907","https://openalex.org/W3093799842","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3148802216","https://openalex.org/W3207966577"],"related_works":["https://openalex.org/W3131110707","https://openalex.org/W2716370379","https://openalex.org/W2786196354","https://openalex.org/W4399374581","https://openalex.org/W2071387541","https://openalex.org/W1983135609","https://openalex.org/W2789837488","https://openalex.org/W2786003999","https://openalex.org/W4229014760","https://openalex.org/W4378965995"],"abstract_inverted_index":{"Modulation":[0],"of":[1,8,39,90,114,131],"joint":[2,40,62,72],"stiffness":[3,63,73,103,117],"is":[4,49,105,119,129],"a":[5,56,82,108],"natural":[6],"ability":[7],"humans,":[9],"which":[10],"enables":[11],"us":[12],"to":[13,59],"interact":[14],"smoothly":[15],"and":[16,47,74,93],"stably":[17],"with":[18,64],"environments.":[19],"Inspired":[20],"by":[21,107],"this":[22,52],"observation,":[23],"variable":[24],"impedance":[25,41],"control":[26],"has":[27],"also":[28,97],"been":[29],"studied":[30],"for":[31,67],"robots":[32],"in":[33,81],"various":[34],"applications.":[35],"However,":[36],"the":[37,61,88,100,115],"design":[38],"profiles":[42],"that":[43,127],"fulfill":[44],"feasible":[45],"requirements":[46],"optimality":[48],"non-trivial.":[50],"In":[51],"paper,":[53],"we":[54],"present":[55],"novel":[57],"scheme":[58],"modulate":[60],"guaranteed":[65,106],"stability":[66,101],"torque-controlled":[68],"quadruped":[69,123],"robots.":[70],"The":[71,112],"desired":[75],"contact":[76],"forces":[77],"are":[78,96],"optimized":[79],"coordinately":[80],"quadratic":[83],"programming":[84],"(QP)":[85],"formulation,":[86],"where":[87],"constraints":[89],"non-slipping":[91],"contacts":[92,135],"torque":[94],"limits":[95],"imposed.":[98],"Moreover,":[99],"during":[102],"modulation":[104,118],"tank-based":[109],"passivity":[110],"constraint.":[111],"effectiveness":[113],"proposed":[116],"validated":[120],"on":[121],"our":[122],"robot":[124],"CENTAURO,":[125],"demonstrating":[126],"it":[128],"capable":[130],"generating":[132],"more":[133],"compliant":[134],"while":[136],"ensuring":[137],"necessary":[138],"tracking":[139],"performances.":[140]},"counts_by_year":[],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
