{"id":"https://openalex.org/W2004341666","doi":"https://doi.org/10.1109/humanoids.2014.7041381","title":"Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels","display_name":"Linear model predictive control of the locomotion of Pepper, a humanoid robot with omnidirectional wheels","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2004341666","doi":"https://doi.org/10.1109/humanoids.2014.7041381","mag":"2004341666"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://inria.hal.science/hal-02487653","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5008816658","display_name":"Jory Lafaye","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096593","display_name":"Aldebaran Marine Research and Broadcast","ror":"https://ror.org/00bkqxm79","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210096593"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jory Lafaye","raw_affiliation_strings":["Aldebaran"],"affiliations":[{"raw_affiliation_string":"Aldebaran","institution_ids":["https://openalex.org/I4210096593"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087453767","display_name":"David Gouaillier","orcid":null},"institutions":[{"id":"https://openalex.org/I4210096593","display_name":"Aldebaran Marine Research and Broadcast","ror":"https://ror.org/00bkqxm79","country_code":"DE","type":"facility","lineage":["https://openalex.org/I4210096593"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Gouaillier","raw_affiliation_strings":["Aldebaran"],"affiliations":[{"raw_affiliation_string":"Aldebaran","institution_ids":["https://openalex.org/I4210096593"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057770359","display_name":"Pierre-Brice Wieber","orcid":"https://orcid.org/0000-0002-5106-929X"},"institutions":[{"id":"https://openalex.org/I899635006","display_name":"Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/02rx3b187","country_code":"FR","type":"education","lineage":["https://openalex.org/I899635006"]},{"id":"https://openalex.org/I1326498283","display_name":"Institut national de recherche en informatique et en automatique","ror":"https://ror.org/02kvxyf05","country_code":"FR","type":"funder","lineage":["https://openalex.org/I1326498283"]},{"id":"https://openalex.org/I4210101348","display_name":"Centre Inria de l'Universit\u00e9 Grenoble Alpes","ror":"https://ror.org/00n8d6z93","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1326498283","https://openalex.org/I4210101348"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Pierre-Brice Wieber","raw_affiliation_strings":["Inria Grenoble","[INRIA Grenoble]"],"affiliations":[{"raw_affiliation_string":"Inria Grenoble","institution_ids":["https://openalex.org/I1326498283","https://openalex.org/I4210101348","https://openalex.org/I899635006"]},{"raw_affiliation_string":"[INRIA Grenoble]","institution_ids":["https://openalex.org/I1326498283"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5008816658"],"corresponding_institution_ids":["https://openalex.org/I4210096593"],"apc_list":null,"apc_paid":null,"fwci":3.70804998,"has_fulltext":false,"cited_by_count":67,"citation_normalized_percentile":{"value":0.93036849,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"336","last_page":"341"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":1.0,"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":1.0,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9973999857902527,"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"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.989300012588501,"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":0.8264530301094055},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.8138440847396851},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5801360011100769},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5630919933319092},{"id":"https://openalex.org/keywords/omnidirectional-camera","display_name":"Omnidirectional camera","score":0.4941761791706085},{"id":"https://openalex.org/keywords/robot-locomotion","display_name":"Robot locomotion","score":0.4496583640575409},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3838968575000763},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.33706289529800415},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3173539638519287},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.2782025933265686}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8264530301094055},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.8138440847396851},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5801360011100769},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5630919933319092},{"id":"https://openalex.org/C2777953668","wikidata":"https://www.wikidata.org/wiki/Q684116","display_name":"Omnidirectional camera","level":4,"score":0.4941761791706085},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.4496583640575409},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3838968575000763},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.33706289529800415},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3173539638519287},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2782025933265686},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041381","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041381","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2014 IEEE-RAS International Conference on Humanoid Robots","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-02487653v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02487653","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. pp.336-341, &#x27E8;10.1109/HUMANOIDS.2014.7041381&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-02487653v1","is_oa":true,"landing_page_url":"https://inria.hal.science/hal-02487653","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2014, Madrid, Spain. pp.336-341, &#x27E8;10.1109/HUMANOIDS.2014.7041381&#x27E9;","raw_type":"Conference papers"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1935300939","https://openalex.org/W2023234844","https://openalex.org/W2025673320","https://openalex.org/W2035585209","https://openalex.org/W2056223738","https://openalex.org/W2062389517","https://openalex.org/W2102712550","https://openalex.org/W2111479185","https://openalex.org/W2125658232","https://openalex.org/W2127763473","https://openalex.org/W2133859362","https://openalex.org/W2135240557","https://openalex.org/W2150922432","https://openalex.org/W2159070083","https://openalex.org/W2167089508","https://openalex.org/W4301014524","https://openalex.org/W6680289892","https://openalex.org/W6683467846","https://openalex.org/W6684555164"],"related_works":["https://openalex.org/W2898919627","https://openalex.org/W4379536980","https://openalex.org/W2666300258","https://openalex.org/W2118689766","https://openalex.org/W1989062809","https://openalex.org/W2625795345","https://openalex.org/W2215517927","https://openalex.org/W2137384304","https://openalex.org/W114721022","https://openalex.org/W1966688224"],"abstract_inverted_index":{"International":[0],"audience":[1]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":10},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
