{"id":"https://openalex.org/W2076468034","doi":"https://doi.org/10.1109/humanoids.2014.7041383","title":"Effects of hand contact on the stability of a planar humanoid with a momentum based controller","display_name":"Effects of hand contact on the stability of a planar humanoid with a momentum based controller","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2076468034","doi":"https://doi.org/10.1109/humanoids.2014.7041383","mag":"2076468034"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041383","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":"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/A5103164657","display_name":"Morteza Azad","orcid":"https://orcid.org/0000-0003-3611-618X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":true,"raw_author_name":"Morteza Azad","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Edgbaston, The United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Edgbaston, The United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060743876","display_name":"Jan Babi\u010d","orcid":"https://orcid.org/0000-0002-1870-8264"},"institutions":[{"id":"https://openalex.org/I3006985408","display_name":"Jo\u017eef Stefan Institute","ror":"https://ror.org/05060sz93","country_code":"SI","type":"facility","lineage":["https://openalex.org/I3006985408"]}],"countries":["SI"],"is_corresponding":false,"raw_author_name":"Jan Babic","raw_affiliation_strings":["Department for Automation, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova cesta 39, SI-1000, Ljubljana, Slovenia"],"affiliations":[{"raw_affiliation_string":"Department for Automation, Jo\u017eef Stefan Institute, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]},{"raw_affiliation_string":"Department for Automation, Biocybernetics and Robotics, Jo\u017eef Stefan Institute, Jamova cesta 39, SI-1000, Ljubljana, Slovenia","institution_ids":["https://openalex.org/I3006985408"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082553836","display_name":"Michael Mistry","orcid":"https://orcid.org/0000-0003-3979-922X"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Michael N. Mistry","raw_affiliation_strings":["School of Computer Science, University of Birmingham, Edgbaston, The United Kingdom"],"affiliations":[{"raw_affiliation_string":"School of Computer Science, University of Birmingham, Edgbaston, The United Kingdom","institution_ids":["https://openalex.org/I79619799"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5103164657"],"corresponding_institution_ids":["https://openalex.org/I79619799"],"apc_list":null,"apc_paid":null,"fwci":0.1868,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.56382551,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"35","issue":null,"first_page":"348","last_page":"353"},"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":0.9987000226974487,"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":0.9947999715805054,"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":0.8192045092582703},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6694338321685791},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.655643105506897},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.6530635952949524},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.6170825362205505},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.5504966974258423},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5283703804016113},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.43899866938591003},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4253441393375397},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.419344425201416},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.34363508224487305},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3226499855518341},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2796868681907654},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22941854596138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1542959213256836},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.09357777237892151}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8192045092582703},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6694338321685791},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.655643105506897},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.6530635952949524},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.6170825362205505},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.5504966974258423},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5283703804016113},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.43899866938591003},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4253441393375397},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.419344425201416},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.34363508224487305},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3226499855518341},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2796868681907654},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22941854596138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1542959213256836},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.09357777237892151},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2014.7041383","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041383","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:pure.atira.dk:openaire_cris_publications/23eabd7a-6a6e-41c8-b84b-4c6a2915aeff","is_oa":false,"landing_page_url":"https://research.birmingham.ac.uk/en/publications/23eabd7a-6a6e-41c8-b84b-4c6a2915aeff","pdf_url":null,"source":{"id":"https://openalex.org/S4306402634","display_name":"University of Birmingham Research Portal (University of Birmingham)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79619799","host_organization_name":"University of Birmingham","host_organization_lineage":["https://openalex.org/I79619799"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Azad, M, Babi\u010d, J & Mistry, M N 2015, Effects of hand contact on the stability of a planar humanoid with a momentum based controller. in IEEE-RAS International Conference on Humanoid Robots. vol. 2015-February, 7041383, IEEE Computer Society Press, pp. 348-353, 2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 18/11/14. https://doi.org/10.1109/HUMANOIDS.2014.7041383","raw_type":"contributionToPeriodical"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1989016128","https://openalex.org/W1992489650","https://openalex.org/W2005080926","https://openalex.org/W2021512411","https://openalex.org/W2070136004","https://openalex.org/W2123748199","https://openalex.org/W2125150855","https://openalex.org/W2128166584","https://openalex.org/W2151669579","https://openalex.org/W2159006952","https://openalex.org/W4254086355","https://openalex.org/W6651708320"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2543019745","https://openalex.org/W2295425790","https://openalex.org/W1991876829","https://openalex.org/W4389009354","https://openalex.org/W2088677124","https://openalex.org/W1974803039","https://openalex.org/W2100910774"],"abstract_inverted_index":{"This":[0,96],"paper":[1],"studies":[2],"the":[3,10,33,37,43,46,52,63,66,72,81,84,93,100,111],"effects":[4],"of":[5,12,45,48,51,71,83,92],"hand":[6,64,94],"contact":[7,61,109],"force":[8],"on":[9,86],"stability":[11],"a":[13,59,114],"planar":[14],"humanoid":[15],"robot":[16],"while":[17],"translational":[18],"perturbations":[19],"are":[20],"applied":[21],"to":[22,31],"its":[23],"foot.":[24],"A":[25],"momentum":[26,101],"based":[27,102],"controller":[28,103],"is":[29,58],"used":[30],"control":[32],"robot's":[34],"motion":[35],"during":[36,113],"perturbations.":[38],"Simulation":[39],"results":[40,70,82],"show":[41],"that":[42,99],"displacements":[44,74],"center":[47],"pressure":[49],"(CoP)":[50],"foot":[53],"decrease":[54],"substantially":[55],"when":[56],"there":[57],"supportive":[60],"between":[62],"and":[65,75],"environment.":[67],"The":[68],"simulation":[69],"CoP":[73],"handle":[76],"forces":[77],"also":[78],"conform":[79],"with":[80,89,110],"experiments":[85],"human":[87,106],"subjects":[88],"different":[90],"positions":[91],"contact.":[95],"conformity":[97],"shows":[98],"adequately":[104],"models":[105],"behaviour":[107],"in":[108],"environment":[112],"balancing":[115],"motion.":[116]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}