{"id":"https://openalex.org/W2042263030","doi":"https://doi.org/10.1109/humanoids.2012.6651518","title":"Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking","display_name":"Integration of vertical COM motion and angular momentum in an extended Capture Point tracking controller for bipedal walking","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2042263030","doi":"https://doi.org/10.1109/humanoids.2012.6651518","mag":"2042263030"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651518","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/A5028440671","display_name":"Johannes Englsberger","orcid":"https://orcid.org/0000-0002-8117-2650"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Johannes Englsberger","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, We\u00dfling, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048539897","display_name":"Christian Ott","orcid":"https://orcid.org/0000-0003-0987-7493"},"institutions":[{"id":"https://openalex.org/I2898391981","display_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","ror":"https://ror.org/04bwf3e34","country_code":"DE","type":"facility","lineage":["https://openalex.org/I1305996414","https://openalex.org/I2898391981"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Ott","raw_affiliation_strings":["Institute of Robotics and Mechatronics, German Aerospace Center, We\u00dfling, Germany","Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Robotics and Mechatronics, German Aerospace Center, We\u00dfling, Germany","institution_ids":["https://openalex.org/I2898391981"]},{"raw_affiliation_string":"Inst. of Robot. & Mechatron., German Aerosp. Center, Wessling, Germany","institution_ids":["https://openalex.org/I2898391981"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I2898391981"],"apc_list":null,"apc_paid":null,"fwci":5.8092,"has_fulltext":false,"cited_by_count":66,"citation_normalized_percentile":{"value":0.96509462,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"183","last_page":"189"},"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":0.9970999956130981,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9851999878883362,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.801554262638092},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.7435502409934998},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6841111183166504},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6419157385826111},{"id":"https://openalex.org/keywords/zero-moment-point","display_name":"Zero moment point","score":0.6314378380775452},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5871887803077698},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5454069972038269},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5374186038970947},{"id":"https://openalex.org/keywords/double-pendulum","display_name":"Double pendulum","score":0.5343733429908752},{"id":"https://openalex.org/keywords/pendulum","display_name":"Pendulum","score":0.5184733271598816},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.46317675709724426},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4587794244289398},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.44477155804634094},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4357031583786011},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.41751986742019653},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.270853191614151},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22396227717399597},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.22031867504119873},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.21963992714881897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21445581316947937},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19386368989944458},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.09359827637672424},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.08423352241516113},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.0703732967376709}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.801554262638092},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.7435502409934998},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6841111183166504},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6419157385826111},{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.6314378380775452},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5871887803077698},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5454069972038269},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5374186038970947},{"id":"https://openalex.org/C167183279","wikidata":"https://www.wikidata.org/wiki/Q1243208","display_name":"Double pendulum","level":4,"score":0.5343733429908752},{"id":"https://openalex.org/C110639684","wikidata":"https://www.wikidata.org/wiki/Q20702","display_name":"Pendulum","level":2,"score":0.5184733271598816},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.46317675709724426},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4587794244289398},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.44477155804634094},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4357031583786011},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.41751986742019653},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.270853191614151},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22396227717399597},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.22031867504119873},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.21963992714881897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21445581316947937},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19386368989944458},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.09359827637672424},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.08423352241516113},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0703732967376709},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2012.6651518","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651518","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:elib.dlr.de:79926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/HUMANOIDS.2012.6651518>.","pdf_url":null,"source":{"id":"https://openalex.org/S4377196266","display_name":"elib (German Aerospace Center)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2898391981","host_organization_name":"Deutsches Zentrum f\u00fcr Luft- und Raumfahrt e. V. (DLR)","host_organization_lineage":["https://openalex.org/I2898391981"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"acceptedVersion","is_accepted":true,"is_published":false,"raw_source_name":null,"raw_type":"Konferenzbeitrag"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1964173271","https://openalex.org/W1967365365","https://openalex.org/W1987397798","https://openalex.org/W1987580649","https://openalex.org/W1994275787","https://openalex.org/W2033443151","https://openalex.org/W2036484113","https://openalex.org/W2046636826","https://openalex.org/W2079995373","https://openalex.org/W2099129715","https://openalex.org/W2100656166","https://openalex.org/W2116310395","https://openalex.org/W2126729486","https://openalex.org/W2133859362","https://openalex.org/W2138136244","https://openalex.org/W2140589879","https://openalex.org/W2143454724","https://openalex.org/W2150471469","https://openalex.org/W2153190828","https://openalex.org/W2153717729","https://openalex.org/W2162109810","https://openalex.org/W2165350174","https://openalex.org/W2168936093","https://openalex.org/W2539534359","https://openalex.org/W2539977475","https://openalex.org/W2610857016","https://openalex.org/W3145941942","https://openalex.org/W3152036265"],"related_works":["https://openalex.org/W2129754669","https://openalex.org/W2612646280","https://openalex.org/W1963494060","https://openalex.org/W2366496871","https://openalex.org/W1988157353","https://openalex.org/W2600116237","https://openalex.org/W2149145472","https://openalex.org/W2669735925","https://openalex.org/W3090237748","https://openalex.org/W3216306759"],"abstract_inverted_index":{"In":[0,17,90],"this":[1],"paper,":[2],"we":[3,19,71,92],"demonstrate":[4],"methods":[5],"for":[6],"bipedal":[7,87],"walking":[8,88],"control":[9],"based":[10,42],"on":[11],"the":[12,31,37,65,100,107,126],"Capture":[13],"Point":[14],"(CP)":[15],"methodology.":[16],"particular,":[18],"introduce":[20],"a":[21,26,52,73,82,94],"method":[22],"to":[23,51,81,125],"intuitively":[24],"derive":[25],"CP":[27,43,110,114],"reference":[28],"trajectory":[29],"from":[30,103],"next":[32],"three":[33],"steps":[34],"and":[35,59,105,123],"extend":[36],"linear":[38],"inverted":[39],"pendulum":[40],"(LIP)":[41],"tracking":[44],"controller":[45,127],"introduced":[46],"in":[47,61,119,129],"[1],":[48],"generalizing":[49],"it":[50],"model":[53],"that":[54],"contains":[55],"vertical":[56],"CoM":[57],"motions":[58],"changes":[60],"angular":[62],"momentum.":[63],"Respecting":[64],"dynamics":[66,85],"of":[67,76,86],"general":[68],"multibody":[69],"systems,":[70],"propose":[72,93],"measurement-based":[74],"compensation":[75],"multi-body":[77],"effects,":[78],"which":[79,98],"leads":[80],"stable":[83],"closed-loop":[84],"robots.":[89],"addition":[91],"ZMP":[95],"projection":[96],"method,":[97],"prevents":[99],"robots":[101],"feet":[102],"tilting":[104],"ensures":[106],"best":[108],"feasible":[109],"tracking.":[111],"The":[112],"extended":[113],"controller's":[115],"performance":[116],"is":[117],"validated":[118],"OpenHRP3":[120],"[2]":[121],"simulations":[122],"compared":[124],"proposed":[128],"[1].":[130]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":10},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":13},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":3}],"updated_date":"2026-08-26T07:47:46.906454","created_date":"2025-10-10T00:00:00"}
