{"id":"https://openalex.org/W2212635149","doi":"https://doi.org/10.1109/humanoids.2015.7363520","title":"Optically-regulated impedance-based balancing for humanoid robots","display_name":"Optically-regulated impedance-based balancing for humanoid robots","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2212635149","doi":"https://doi.org/10.1109/humanoids.2015.7363520","mag":"2212635149"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363520","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":"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/A5078798098","display_name":"Emmanouil Spyrakos-Papastavridis","orcid":"https://orcid.org/0000-0001-7448-8529"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Emmanouil Spyrakos-Papastavridis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048122691","display_name":"Dimitrios Kanoulas","orcid":"https://orcid.org/0000-0002-3684-1472"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Dimitrios Kanoulas","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos G. Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044243940","display_name":"Darwin G. Caldwell","orcid":"https://orcid.org/0000-0002-6233-9961"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Darwin G. Caldwell","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5078798098"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.5311,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.67912131,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"132","issue":null,"first_page":"41","last_page":"46"},"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":0.9945999979972839,"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":0.9937000274658203,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8398113250732422},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.669877290725708},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6627554893493652},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.5669693946838379},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5449187159538269},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.48331260681152344},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4759644865989685},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.45687922835350037},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.448057621717453},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.44677191972732544},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.42297056317329407},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.3419414162635803}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8398113250732422},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.669877290725708},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6627554893493652},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.5669693946838379},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5449187159538269},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.48331260681152344},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4759644865989685},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45687922835350037},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.448057621717453},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.44677191972732544},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.42297056317329407},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.3419414162635803},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"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/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","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},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363520","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363520","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"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5799999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W602904462","https://openalex.org/W1978023077","https://openalex.org/W1985831969","https://openalex.org/W1987580649","https://openalex.org/W2022250862","https://openalex.org/W2030400143","https://openalex.org/W2037729465","https://openalex.org/W2068027769","https://openalex.org/W2070678459","https://openalex.org/W2073213529","https://openalex.org/W2083071253","https://openalex.org/W2102637790","https://openalex.org/W2122827816","https://openalex.org/W2125672009","https://openalex.org/W2130293653","https://openalex.org/W2141377539","https://openalex.org/W2144091652","https://openalex.org/W2148338288","https://openalex.org/W2151378713","https://openalex.org/W2152864241","https://openalex.org/W2152957885","https://openalex.org/W2154874053","https://openalex.org/W2168707985","https://openalex.org/W4248936881","https://openalex.org/W6618378251","https://openalex.org/W6644756748","https://openalex.org/W6646932425","https://openalex.org/W6658043992","https://openalex.org/W6678965560","https://openalex.org/W6685236856","https://openalex.org/W6903984675"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W1974803039","https://openalex.org/W1991876829","https://openalex.org/W2088677124","https://openalex.org/W2100910774","https://openalex.org/W2785665096"],"abstract_inverted_index":{"This":[0],"paper":[1],"attempts":[2],"to":[3,56,115,142,147,163],"resolve":[4],"the":[5,19,41,82,91,95,100,122,125,128,137,164,170,187,196],"issue":[6],"of":[7,21,26,46,64,76,84,93,127,203],"regulating":[8],"a":[9,49,85,106,117,155,181,199],"humanoid":[10],"robot's":[11,138,201],"impedance":[12,139],"levels":[13],"and":[14,71],"Centre-of-Mass":[15],"(CoM)":[16],"position,":[17],"for":[18,198],"purpose":[20,92],"maintaining":[22],"balance,":[23,65],"by":[24],"means":[25],"receiving":[27],"visual":[28,39,178,191],"feedback":[29,179],"from":[30],"its":[31,57,62,68],"environment.":[32],"Once":[33],"it":[34],"has":[35],"been":[36],"endowed":[37],"with":[38],"perception,":[40],"robot":[42],"is":[43,135,174],"rendered":[44],"capable":[45],"ascertaining":[47],"whether":[48],"moving":[50],"object":[51],"located":[52],"within":[53],"fair":[54],"proximity":[55],"structure":[58],"could":[59,193],"potentially":[60,194],"menace":[61],"state":[63],"based":[66],"on":[67],"relative":[69],"distance":[70],"velocity.":[72],"The":[73],"real-time":[74],"detection":[75],"such":[77],"an":[78,132],"event":[79],"then":[80],"necessitates":[81],"performance":[83],"preparative":[86],"action":[87],"that":[88,173,190],"would":[89],"serve":[90],"ensuring":[94],"system's":[96],"timely":[97],"balancing.":[98,205],"However,":[99],"latter":[101],"may":[102],"be":[103],"viewed":[104],"as":[105],"twofold":[107],"problem":[108],"in":[109,113,145],"this":[110,149],"context,":[111],"since":[112],"addition":[114],"triggering":[116],"motion":[118],"aimed":[119],"at":[120,130],"transferring":[121],"CoP":[123],"towards":[124],"side":[126],"polygon":[129],"which":[131],"external":[133],"impact":[134],"imminent,":[136],"also":[140],"needs":[141],"vary":[143],"appropriately":[144],"order":[146],"absorb":[148],"disturbance.":[150],"Experimental":[151],"results":[152],"obtained":[153],"using":[154],"depth":[156],"ASUS":[157],"Xtion":[158],"PRO":[159],"Live":[160],"camera":[161],"attached":[162],"COmpliant":[165],"huMANoid":[166],"(COMAN),":[167],"clearly":[168],"demonstrate":[169],"balance":[171],"augmentation":[172],"achievable":[175],"when":[176],"incorporating":[177],"into":[180],"balancing":[182],"controller,":[183],"thus":[184],"partially":[185],"corroborating":[186],"generic":[188],"hypothesis":[189],"perception":[192],"pave":[195],"way":[197],"bipedal":[200],"emulation":[202],"human-like":[204]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}