{"id":"https://openalex.org/W2047571853","doi":"https://doi.org/10.1109/humanoids.2014.7041406","title":"Identification of macroscopic feedback gain in a position-controlled humanoid robot and its application to falling detection","display_name":"Identification of macroscopic feedback gain in a position-controlled humanoid robot and its application to falling detection","publication_year":2014,"publication_date":"2014-11-01","ids":{"openalex":"https://openalex.org/W2047571853","doi":"https://doi.org/10.1109/humanoids.2014.7041406","mag":"2047571853"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2014.7041406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041406","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":"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/A5035701118","display_name":"Ko Yamamoto","orcid":"https://orcid.org/0000-0002-9558-3880"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Ko Yamamoto","raw_affiliation_strings":["Department of Mechanical Engineering, Univ. of Tokyo, Hongo, Bunkyo-ku, Tokyo, Japan","Department of Mechanical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Univ. of Tokyo, Hongo, Bunkyo-ku, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, 113-8656, Japan","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5035701118"],"corresponding_institution_ids":["https://openalex.org/I74801974"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"487","last_page":"492"},"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":0.9980000257492065,"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":0.9861999750137329,"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":0.8830709457397461},{"id":"https://openalex.org/keywords/cog","display_name":"Cog","score":0.788245439529419},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7019916772842407},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.589889407157898},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5821950435638428},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5802524089813232},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5691428184509277},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.48723164200782776},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.44016116857528687},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4333280026912689},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.43091264367103577},{"id":"https://openalex.org/keywords/center-of-gravity","display_name":"Center of gravity","score":0.4213451147079468},{"id":"https://openalex.org/keywords/falling","display_name":"Falling (accident)","score":0.4197568893432617},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.41745075583457947},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.4115597903728485},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38728630542755127},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.36528468132019043},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36221715807914734},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.30931928753852844},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2943902611732483},{"id":"https://openalex.org/keywords/aerodynamics","display_name":"Aerodynamics","score":0.16749811172485352},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09853145480155945},{"id":"https://openalex.org/keywords/temperature-control","display_name":"Temperature control","score":0.06432375311851501}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8830709457397461},{"id":"https://openalex.org/C4661277","wikidata":"https://www.wikidata.org/wiki/Q1054157","display_name":"Cog","level":2,"score":0.788245439529419},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7019916772842407},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.589889407157898},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5821950435638428},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5802524089813232},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5691428184509277},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.48723164200782776},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.44016116857528687},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4333280026912689},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.43091264367103577},{"id":"https://openalex.org/C132668919","wikidata":"https://www.wikidata.org/wiki/Q1110236","display_name":"Center of gravity","level":2,"score":0.4213451147079468},{"id":"https://openalex.org/C2779079380","wikidata":"https://www.wikidata.org/wiki/Q333495","display_name":"Falling (accident)","level":2,"score":0.4197568893432617},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.41745075583457947},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.4115597903728485},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38728630542755127},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36528468132019043},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36221715807914734},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.30931928753852844},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2943902611732483},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.16749811172485352},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09853145480155945},{"id":"https://openalex.org/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.06432375311851501},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C187736073","wikidata":"https://www.wikidata.org/wiki/Q2920921","display_name":"Management","level":1,"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/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2014.7041406","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2014.7041406","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1519543928","https://openalex.org/W1968160270","https://openalex.org/W1977343159","https://openalex.org/W2021512411","https://openalex.org/W2024714232","https://openalex.org/W2046636826","https://openalex.org/W2056223738","https://openalex.org/W2061068753","https://openalex.org/W2062940189","https://openalex.org/W2072241589","https://openalex.org/W2079995373","https://openalex.org/W2086889378","https://openalex.org/W2100656166","https://openalex.org/W2118840382","https://openalex.org/W2123477693","https://openalex.org/W2127580532","https://openalex.org/W2137300190","https://openalex.org/W2141022958","https://openalex.org/W2153190828","https://openalex.org/W6680585183"],"related_works":["https://openalex.org/W4302290647","https://openalex.org/W2319797310","https://openalex.org/W2898815460","https://openalex.org/W2210853790","https://openalex.org/W1988603010","https://openalex.org/W2047733616","https://openalex.org/W1982118679","https://openalex.org/W2738467573","https://openalex.org/W2067130528","https://openalex.org/W2617153051"],"abstract_inverted_index":{"Motion":[0],"control":[1,53,62,90,101],"of":[2,32,38,108,166],"a":[3,20,22,130,135,140],"humanoid":[4,120,137],"robot":[5],"is":[6,12,41,50,66,110,149,170],"challenging":[7],"problem":[8],"because":[9],"its":[10],"dynamics":[11,24],"complicated.":[13],"To":[14],"make":[15],"it":[16,49,65,148,158],"easier":[17],"to":[18,52,68,151,159],"design":[19],"controller,":[21],"macroscopic":[23,131],"focusing":[25],"on":[26,45,72,105],"the":[27,30,36,46,54,58,61,73,80,84,114,127,144,153,160,167],"relationship":[28],"between":[29],"center":[31,37],"gravity":[33],"(COG)":[34],"and":[35,102,117,156],"pressure":[39],"(COP)":[40,92],"often":[42],"used.":[43],"Based":[44],"COG-COP":[47],"model,":[48],"possible":[51,67,150],"COG":[55],"by":[56,138],"using":[57],"COP":[59],"as":[60,79],"input.":[63],"Moreover,":[64],"detect":[69],"falling":[70,161],"based":[71],"Maximal":[74],"Output":[75],"Admissible":[76],"(MOA)":[77],"set":[78,155],"author":[81,128],"presented":[82],"in":[83,113,134],"previous":[85],"paper.":[86],"However,":[87],"generating":[88],"appropriate":[89],"input":[91],"requires":[93],"sophisticated":[94],"joint":[95],"actuator":[96],"which":[97],"can":[98],"realize":[99],"torque":[100],"backdrivability.":[103],"Research":[104],"this":[106,125],"type":[107],"actuators":[109],"still":[111],"on-going":[112],"robotics":[115],"field,":[116],"most":[118],"existing":[119],"robots":[121],"are":[122],"position-controlled.":[123],"In":[124],"paper,":[126],"identifies":[129],"feedback":[132,146],"gain":[133],"position-controlled":[136],"measuring":[139],"disturbance":[141],"response.":[142],"From":[143],"obtained":[145],"gain,":[147],"compute":[152],"MOA":[154],"apply":[157],"prevention":[162],"control.":[163],"The":[164],"effectiveness":[165],"proposed":[168],"method":[169],"verified":[171],"with":[172],"experiments.":[173]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
