{"id":"https://openalex.org/W2196946749","doi":"https://doi.org/10.1109/humanoids.2015.7363417","title":"Humanoid momentum estimation using sensed contact wrenches","display_name":"Humanoid momentum estimation using sensed contact wrenches","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2196946749","doi":"https://doi.org/10.1109/humanoids.2015.7363417","mag":"2196946749"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1507.04401","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031913396","display_name":"Nicholas Rotella","orcid":null},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Nicholas Rotella","raw_affiliation_strings":["Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California"],"affiliations":[{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102014112","display_name":"Alexander Herzog","orcid":"https://orcid.org/0000-0001-7671-1878"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Herzog","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029642293","display_name":"Stefan Schaal","orcid":"https://orcid.org/0000-0001-5660-1874"},"institutions":[{"id":"https://openalex.org/I1174212","display_name":"University of Southern California","ror":"https://ror.org/03taz7m60","country_code":"US","type":"education","lineage":["https://openalex.org/I1174212"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Stefan Schaal","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Computational Learning and Motor Control Lab, University of Southern California, Los Angeles, California","institution_ids":["https://openalex.org/I1174212"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5031913396"],"corresponding_institution_ids":["https://openalex.org/I1174212"],"apc_list":null,"apc_paid":null,"fwci":1.9993,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.85989832,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"556","last_page":"563"},"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":0.9937999844551086,"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":0.9765999913215637,"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/observability","display_name":"Observability","score":0.7706975936889648},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.7418031692504883},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7310848236083984},{"id":"https://openalex.org/keywords/wrench","display_name":"Wrench","score":0.7246273159980774},{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.6854454874992371},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.623475193977356},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.6002323031425476},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5830751657485962},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5146254301071167},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.48644423484802246},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.431820273399353},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33870336413383484},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3256145715713501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2955731153488159},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23428499698638916},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.21808257699012756},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1794988214969635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17794978618621826},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15920528769493103},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14543598890304565},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09232807159423828},{"id":"https://openalex.org/keywords/energy\u2013momentum-relation","display_name":"Energy\u2013momentum relation","score":0.08605444431304932},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07373291254043579},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.06880226731300354}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.7706975936889648},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.7418031692504883},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7310848236083984},{"id":"https://openalex.org/C29302406","wikidata":"https://www.wikidata.org/wiki/Q154411","display_name":"Wrench","level":2,"score":0.7246273159980774},{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.6854454874992371},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.623475193977356},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.6002323031425476},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5830751657485962},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5146254301071167},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.48644423484802246},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.431820273399353},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33870336413383484},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3256145715713501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2955731153488159},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23428499698638916},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.21808257699012756},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1794988214969635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17794978618621826},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15920528769493103},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14543598890304565},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09232807159423828},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.08605444431304932},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07373291254043579},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.06880226731300354},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2015.7363417","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363417","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1507.04401","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1507.04401","pdf_url":"https://arxiv.org/pdf/1507.04401","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:pure.mpg.de:item_2259807","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-002A-1F20-9","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids 2015)","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1507.04401","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1507.04401","pdf_url":"https://arxiv.org/pdf/1507.04401","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1431688706","https://openalex.org/W1498561008","https://openalex.org/W1499277207","https://openalex.org/W1980689933","https://openalex.org/W1989016128","https://openalex.org/W2005099894","https://openalex.org/W2028073826","https://openalex.org/W2080421646","https://openalex.org/W2081683070","https://openalex.org/W2091486145","https://openalex.org/W2115749058","https://openalex.org/W2133859362","https://openalex.org/W2140998418","https://openalex.org/W2149046449","https://openalex.org/W3102212813","https://openalex.org/W4254086355","https://openalex.org/W6629683226"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W3114548899","https://openalex.org/W2765830098","https://openalex.org/W2967463586","https://openalex.org/W2067759762","https://openalex.org/W4205162136","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W1859914877","https://openalex.org/W2661345901"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"approaches":[3,24],"for":[4,10,62,68],"the":[5,11,14,31,41,45,56,69,93],"estimation":[6],"of":[7,13,16,44,58,71,83,97],"quantities":[8],"important":[9],"control":[12],"momentum":[15,42,75],"a":[17],"humanoid":[18],"robot.":[19,46,94],"In":[20],"contrast":[21],"to":[22,80,92,109],"previous":[23,110],"which":[25,76],"use":[26],"simplified":[27,60],"models":[28,61],"such":[29],"as":[30,86,88],"Linear":[32],"Inverted":[33],"Pendulum":[34],"Model,":[35],"we":[36,54],"present":[37],"estimators":[38,99],"based":[39],"on":[40],"dynamics":[43],"By":[47],"using":[48,59],"this":[49],"simple":[50],"yet":[51],"dynamically-consistent":[52],"model,":[53],"avoid":[55],"issues":[57],"estimation.":[63],"We":[64],"develop":[65],"an":[66],"estimator":[67],"center":[70,82],"mass":[72,84],"and":[73,102],"full":[74],"can":[77],"be":[78],"reformulated":[79],"estimate":[81],"offsets":[85],"well":[87],"external":[89],"wrenches":[90],"applied":[91],"The":[95],"observability":[96],"these":[98],"is":[100,105],"investigated":[101],"their":[103],"performance":[104],"evaluated":[106],"in":[107],"comparison":[108],"approaches.":[111]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}
