{"id":"https://openalex.org/W2015020516","doi":"https://doi.org/10.1109/humanoids.2012.6651498","title":"Torso rotation for push recovery using a simple change of variables","display_name":"Torso rotation for push recovery using a simple change of variables","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2015020516","doi":"https://doi.org/10.1109/humanoids.2012.6651498","mag":"2015020516"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651498","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":"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/A5016621140","display_name":"Eric Whitman","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric C. Whitman","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109342596","display_name":"Benjamin Stephens","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin J. Stephens","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055330939","display_name":"Christopher G. Atkeson","orcid":"https://orcid.org/0000-0003-4265-8452"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christopher G. Atkeson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"[Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA]","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.2273,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.90994293,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"50","last_page":"56"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9976999759674072,"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":0.9976999759674072,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9957000017166138,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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/torso","display_name":"Torso","score":0.9318978786468506},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.6091400384902954},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5612128973007202},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.5206498503684998},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29225629568099976},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13322514295578003},{"id":"https://openalex.org/keywords/anatomy","display_name":"Anatomy","score":0.08238211274147034}],"concepts":[{"id":"https://openalex.org/C523889960","wikidata":"https://www.wikidata.org/wiki/Q160695","display_name":"Torso","level":2,"score":0.9318978786468506},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.6091400384902954},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5612128973007202},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.5206498503684998},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29225629568099976},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13322514295578003},{"id":"https://openalex.org/C105702510","wikidata":"https://www.wikidata.org/wiki/Q514","display_name":"Anatomy","level":1,"score":0.08238211274147034},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2012.6651498","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651498","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"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.248.7559","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.248.7559","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.contrib.andrew.cmu.edu/%7Eewhitman/webContent/hum2012_paper.pdf","raw_type":"text"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.407.2421","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.407.2421","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://www.contrib.andrew.cmu.edu/~ewhitman/webContent/iros11.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1994275787","https://openalex.org/W2005080926","https://openalex.org/W2047842611","https://openalex.org/W2080421646","https://openalex.org/W2101963590","https://openalex.org/W2118320757","https://openalex.org/W2127908581","https://openalex.org/W2128166584","https://openalex.org/W2130117525","https://openalex.org/W2149046449","https://openalex.org/W2160612096","https://openalex.org/W2169270879","https://openalex.org/W2539534359","https://openalex.org/W2539915646","https://openalex.org/W6651708320"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2748952813","https://openalex.org/W4381953457","https://openalex.org/W2037557144","https://openalex.org/W2285739514","https://openalex.org/W2058088690","https://openalex.org/W2086597735","https://openalex.org/W2052143774","https://openalex.org/W1984495143","https://openalex.org/W4308297792"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,6,18],"modification":[4],"for":[5,71],"broad":[7],"class":[8],"of":[9,20,25,29,36,55,68],"controllers":[10],"based":[11],"on":[12,98],"the":[13,27,95],"LIPM":[14],"dynamics.":[15],"We":[16,46,73,92],"use":[17,47,61],"change":[19],"variables":[21],"such":[22],"that":[23],"instead":[24],"controlling":[26],"center":[28,35,67],"mass,":[30],"we":[31],"control":[32,56,84],"an":[33,52,75],"\u201caugmented":[34],"mass\u201d,":[37],"which":[38],"is":[39],"unaffected":[40],"by":[41],"upper":[42,48,63],"body":[43,49,64],"angular":[44],"accelerations.":[45],"orientation":[50],"as":[51],"additional":[53,83],"source":[54],"authority,":[57],"allowing":[58],"us":[59],"to":[60,78],"both":[62],"rotation":[65],"and":[66,89],"pressure":[69],"modulation":[70],"control.":[72],"demonstrate":[74,94],"improved":[76],"robustness":[77],"external":[79],"pushes":[80],"with":[81],"this":[82],"authority":[85],"through":[86],"simulated":[87],"standing":[88],"walking":[90],"experiments.":[91],"also":[93],"modified":[96],"controller":[97],"our":[99],"force-controlled":[100],"humanoid":[101],"robot.":[102]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
