{"id":"https://openalex.org/W2139889932","doi":"https://doi.org/10.1109/humanoids.2012.6651497","title":"A passivity based admittance control for stabilizing the compliant humanoid COMAN","display_name":"A passivity based admittance control for stabilizing the compliant humanoid COMAN","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2139889932","doi":"https://doi.org/10.1109/humanoids.2012.6651497","mag":"2139889932"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"},"type":"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/A5100351560","display_name":"Zhibin Li","orcid":"https://orcid.org/0000-0002-6357-7419"},"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":true,"raw_author_name":"Zhibin Li","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","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 G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"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":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]},{"raw_affiliation_string":"Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100351560"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":10.2866,"has_fulltext":false,"cited_by_count":93,"citation_normalized_percentile":{"value":0.98834738,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"43","last_page":"49"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9990000128746033,"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":0.9909999966621399,"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":0.726188063621521},{"id":"https://openalex.org/keywords/admittance","display_name":"Admittance","score":0.6995360851287842},{"id":"https://openalex.org/keywords/passivity","display_name":"Passivity","score":0.68681800365448},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.636931300163269},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6339964270591736},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6051239967346191},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.450503408908844},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43878379464149475},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.41437503695487976},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.402355432510376},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.395067423582077},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3375316262245178},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.19717425107955933},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15279224514961243},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.11552298069000244}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.726188063621521},{"id":"https://openalex.org/C108811297","wikidata":"https://www.wikidata.org/wiki/Q214518","display_name":"Admittance","level":3,"score":0.6995360851287842},{"id":"https://openalex.org/C2778809601","wikidata":"https://www.wikidata.org/wiki/Q1045736","display_name":"Passivity","level":2,"score":0.68681800365448},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.636931300163269},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6339964270591736},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6051239967346191},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.450503408908844},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43878379464149475},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.41437503695487976},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.402355432510376},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.395067423582077},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3375316262245178},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.19717425107955933},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15279224514961243},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.11552298069000244},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651497","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651497","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/7","score":0.8899999856948853,"display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1939926247","https://openalex.org/W1987580649","https://openalex.org/W2025939589","https://openalex.org/W2042533733","https://openalex.org/W2046636826","https://openalex.org/W2062691475","https://openalex.org/W2062940189","https://openalex.org/W2080421646","https://openalex.org/W2127828969","https://openalex.org/W2141022958","https://openalex.org/W2142992961","https://openalex.org/W2152957885","https://openalex.org/W2157796157","https://openalex.org/W2160612096","https://openalex.org/W2162207896","https://openalex.org/W2540854764","https://openalex.org/W3141890873","https://openalex.org/W3143549859"],"related_works":["https://openalex.org/W2093674444","https://openalex.org/W2563149919","https://openalex.org/W4312745000","https://openalex.org/W4380839079","https://openalex.org/W2565340000","https://openalex.org/W2280707463","https://openalex.org/W1567825211","https://openalex.org/W3095813979","https://openalex.org/W3000191620","https://openalex.org/W2092911180"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,158],"generic":[4],"stabilization":[5,37],"framework":[6,19,39],"which":[7,29],"is":[8,20,30,91,141],"applicable":[9],"for":[10,77,93,121],"both":[11,70],"compliant":[12,25,55],"and":[13,44,54,96,130,161,176,178,185],"stiff":[14],"humanoids.":[15],"The":[16,36,60,82,112,135],"proposed":[17],"control":[18,38,43,64,105,139],"applied":[21,152],"to":[22,50,72],"the":[23,41,45,66,74,78,86,94,99,103,108,117,127,138,154,168,179],"passive":[24],"humanoid":[26],"robot":[27],"COMAN":[28,90],"equipped":[31],"with":[32],"series":[33],"elastic":[34,110,181],"actuators.":[35],"combines":[40],"compliance":[42,63,76],"intrinsic":[46],"angular":[47,113],"momentum":[48,114],"modulation":[49],"achieve":[51],"an":[52],"agile":[53],"interaction":[56],"against":[57],"external":[58],"perturbations.":[59],"admittance":[61,104],"based":[62],"uses":[65],"force/torque":[67],"sensing":[68],"in":[69,85],"feet":[71],"regulate":[73],"active":[75],"position":[79],"controlled":[80],"system.":[81],"physical":[83],"elasticity":[84],"new":[87],"full":[88],"body":[89],"exploited":[92],"reduction":[95],"absorption":[97],"of":[98,137,146,150,167,173],"instantaneous":[100],"impacts":[101],"while":[102,163],"further":[106],"dissipates":[107],"excessive":[109],"energy.":[111],"controller":[115],"reduces":[116],"overall":[118],"inertia":[119],"effect":[120],"providing":[122],"more":[123],"rapid":[124],"reactions.":[125],"Both":[126],"theoretical":[128],"work":[129],"experimental":[131],"validation":[132],"were":[133],"presented.":[134],"effectiveness":[136],"scheme":[140],"demonstrated":[142],"by":[143],"COMAN's":[144],"capabilities":[145],"withstanding":[147],"various":[148],"types":[149],"perturbations":[151],"over":[153],"body,":[155],"balancing":[156],"on":[157],"moving":[159],"platform":[160],"stabilizing":[162],"walking.":[164],"Experimental":[165],"data":[166],"ground":[169],"reaction":[170],"force/torque,":[171],"center":[172],"mass":[174],"references":[175],"estimations,":[177],"stored":[180],"energy":[182],"are":[183],"presented":[184],"analyzed.":[186]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":3},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":13},{"year":2014,"cited_by_count":16},{"year":2013,"cited_by_count":15},{"year":2012,"cited_by_count":7}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}