{"id":"https://openalex.org/W2055849770","doi":"https://doi.org/10.1109/humanoids.2012.6651532","title":"Inverse dynamics control with acceleration optimization on a force-controlled bipedal robot","display_name":"Inverse dynamics control with acceleration optimization on a force-controlled bipedal robot","publication_year":2012,"publication_date":"2012-11-01","ids":{"openalex":"https://openalex.org/W2055849770","doi":"https://doi.org/10.1109/humanoids.2012.6651532","mag":"2055849770"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2012.6651532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651532","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/A5050003106","display_name":"Xuechao Chen","orcid":"https://orcid.org/0000-0003-1136-3053"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xuechao Chen","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028551930","display_name":"Qiang Huang","orcid":"https://orcid.org/0000-0002-7111-8597"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiang Huang","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083887889","display_name":"Zhangguo Yu","orcid":"https://orcid.org/0000-0003-0041-8100"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhangguo Yu","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100336824","display_name":"Jing Li","orcid":"https://orcid.org/0000-0001-9247-928X"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Li","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111847058","display_name":"Gan Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gan Ma","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100763908","display_name":"Si Zhang","orcid":"https://orcid.org/0000-0002-5682-4995"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Si Zhang","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100863858","display_name":"Yue Li","orcid":"https://orcid.org/0009-0006-5923-6044"},"institutions":[{"id":"https://openalex.org/I125839683","display_name":"Beijing Institute of Technology","ror":"https://ror.org/01skt4w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I125839683","https://openalex.org/I890469752"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yue Li","raw_affiliation_strings":["IRI, Beijing Institute of Technology, Beijing, China","[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]"],"affiliations":[{"raw_affiliation_string":"IRI, Beijing Institute of Technology, Beijing, China","institution_ids":["https://openalex.org/I125839683"]},{"raw_affiliation_string":"[Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China]","institution_ids":["https://openalex.org/I125839683"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5050003106"],"corresponding_institution_ids":["https://openalex.org/I125839683"],"apc_list":null,"apc_paid":null,"fwci":0.40951177,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.63980965,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"2005","issue":null,"first_page":"278","last_page":"283"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9984999895095825,"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":0.9959999918937683,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.829249382019043},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8150928020477295},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.8003880381584167},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.62132328748703},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5633497834205627},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.5222121477127075},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5041495561599731},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4941306412220001},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48577621579170227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.449651300907135},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4467931091785431},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.431255042552948},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4106065034866333},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29839271306991577},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22229236364364624},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.17901429533958435},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.16127729415893555},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15689751505851746},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.11351588368415833},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07065096497535706}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.829249382019043},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8150928020477295},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.8003880381584167},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.62132328748703},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5633497834205627},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.5222121477127075},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5041495561599731},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4941306412220001},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48577621579170227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.449651300907135},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4467931091785431},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.431255042552948},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4106065034866333},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29839271306991577},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22229236364364624},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.17901429533958435},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.16127729415893555},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15689751505851746},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.11351588368415833},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07065096497535706},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2012.6651532","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2012.6651532","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":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.6899999976158142}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W211862517","https://openalex.org/W1994275787","https://openalex.org/W1996652980","https://openalex.org/W2018571963","https://openalex.org/W2039271084","https://openalex.org/W2046636826","https://openalex.org/W2074172217","https://openalex.org/W2080421646","https://openalex.org/W2116310395","https://openalex.org/W2125193285","https://openalex.org/W2126837612","https://openalex.org/W2128848325","https://openalex.org/W2131232094","https://openalex.org/W2138671676","https://openalex.org/W2145477224","https://openalex.org/W2153190828","https://openalex.org/W2155625664","https://openalex.org/W2166162370","https://openalex.org/W2542458831","https://openalex.org/W4242613534","https://openalex.org/W6660675348","https://openalex.org/W6678669206","https://openalex.org/W6679063677"],"related_works":["https://openalex.org/W4206704743","https://openalex.org/W4313119266","https://openalex.org/W2164807043","https://openalex.org/W4231448069","https://openalex.org/W2019128690","https://openalex.org/W2128461291","https://openalex.org/W2355907103","https://openalex.org/W1495847109","https://openalex.org/W2744818472","https://openalex.org/W2270789747"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"acceleration-based":[4],"inverse":[5,123],"dynamics":[6],"method":[7],"to":[8,36,46,102],"control":[9,29],"the":[10,22,38,41,47,52,55,59,87,90,96,109,118,128,138],"floating":[11,23,56],"base":[12,24,57],"of":[13,21,40,54,117,137],"a":[14,49,152],"force-controlled":[15,153],"bipedal":[16,154],"robot.":[17],"The":[18,69,135],"desired":[19,60,70,91,119,129,145],"accelerations":[20,39,53,66,92,113],"are":[25,73,114],"derived":[26],"by":[27,75,143],"PD":[28],"in":[30,156],"operational":[31],"space":[32],"and":[33,58,78,147],"then":[34],"used":[35,115],"calculate":[37],"joints.":[42],"Given":[43],"kinematic":[44],"constraints":[45,85],"feet,":[48],"relationship":[50],"between":[51],"external":[61,71,130],"forces":[62,72,131],"needed":[63],"for":[64],"those":[65],"is":[67,100,141],"obtained.":[68],"constrained":[74],"ZMP,":[76],"friction":[77],"unilateral":[79],"vertical":[80],"forces,":[81],"which":[82,106],"introduces":[83],"corresponding":[84],"on":[86,151],"accelerations.":[88],"If":[89],"do":[93],"not":[94],"satisfy":[95,108,132],"constraints,":[97],"quadratic":[98],"programming":[99],"applied":[101],"determine":[103],"optimal":[104,112],"accelerations,":[105],"will":[107],"constraints.":[110,134],"These":[111],"instead":[116],"ones":[120],"when":[121],"calculating":[122],"dynamics.":[124],"Our":[125],"controller":[126],"guarantees":[127],"their":[133],"effectiveness":[136],"proposed":[139],"methods":[140],"demonstrated":[142],"tracking":[144],"trajectories":[146],"recovering":[148],"from":[149],"disturbances":[150],"robot":[155],"simulation.":[157]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
