{"id":"https://openalex.org/W2570283482","doi":"https://doi.org/10.1109/humanoids.2016.7803247","title":"Balance control using center of mass height variation: Limitations imposed by unilateral contact","display_name":"Balance control using center of mass height variation: Limitations imposed by unilateral contact","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2570283482","doi":"https://doi.org/10.1109/humanoids.2016.7803247","mag":"2570283482"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/1721.1/122102","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5025248131","display_name":"Twan Koolen","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Twan Koolen","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085111442","display_name":"Michael Posa","orcid":"https://orcid.org/0000-0003-0599-385X"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Posa","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074291890","display_name":"Russ Tedrake","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Russ Tedrake","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025248131"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":6.1364,"has_fulltext":false,"cited_by_count":84,"citation_normalized_percentile":{"value":0.96888,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"2016","issue":null,"first_page":"8","last_page":"15"},"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9846000075340271,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9835000038146973,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.8231089115142822},{"id":"https://openalex.org/keywords/balance","display_name":"Balance (ability)","score":0.7925912141799927},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6275072693824768},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5656872391700745},{"id":"https://openalex.org/keywords/angular-momentum","display_name":"Angular momentum","score":0.5571110248565674},{"id":"https://openalex.org/keywords/center-of-mass","display_name":"Center of mass (relativistic)","score":0.5348585844039917},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.4849424660205841},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.4302539527416229},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41170620918273926},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3942059874534607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3354833126068115},{"id":"https://openalex.org/keywords/mechanics","display_name":"Mechanics","score":0.2106248438358307},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.16678300499916077},{"id":"https://openalex.org/keywords/economics","display_name":"Economics","score":0.1660994589328766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15640461444854736},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.15258383750915527},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1402626633644104},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.0845259428024292}],"concepts":[{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.8231089115142822},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.7925912141799927},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6275072693824768},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5656872391700745},{"id":"https://openalex.org/C155675718","wikidata":"https://www.wikidata.org/wiki/Q161254","display_name":"Angular momentum","level":2,"score":0.5571110248565674},{"id":"https://openalex.org/C36185635","wikidata":"https://www.wikidata.org/wiki/Q17006925","display_name":"Center of mass (relativistic)","level":3,"score":0.5348585844039917},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.4849424660205841},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.4302539527416229},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41170620918273926},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3942059874534607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3354833126068115},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2106248438358307},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.16678300499916077},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.1660994589328766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15640461444854736},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.15258383750915527},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1402626633644104},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0845259428024292},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"score":0.0},{"id":"https://openalex.org/C47513753","wikidata":"https://www.wikidata.org/wiki/Q3502299","display_name":"Energy\u2013momentum relation","level":2,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/humanoids.2016.7803247","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803247","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/122102","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/122102","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},{"id":"mag:2753549293","is_oa":false,"landing_page_url":"http://jglobal.jst.go.jp/en/public/20090422/201702253240491316","pdf_url":null,"source":{"id":"https://openalex.org/S4306512817","display_name":"IEEE Conference Proceedings","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":"IEEE Conference Proceedings","raw_type":null}],"best_oa_location":{"id":"pmh:oai:dspace.mit.edu:1721.1/122102","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/122102","pdf_url":null,"source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"MIT web domain","raw_type":"http://purl.org/eprint/type/ConferencePaper"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.6000000238418579}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1499277207","https://openalex.org/W1570787829","https://openalex.org/W1989016128","https://openalex.org/W2001757193","https://openalex.org/W2006564886","https://openalex.org/W2026612342","https://openalex.org/W2079995373","https://openalex.org/W2118320757","https://openalex.org/W2125126490","https://openalex.org/W2126729486","https://openalex.org/W2132347660","https://openalex.org/W2143729862","https://openalex.org/W2149652522","https://openalex.org/W2151182239","https://openalex.org/W2221879136","https://openalex.org/W2318268489","https://openalex.org/W2335044248","https://openalex.org/W2465284394","https://openalex.org/W2539534359","https://openalex.org/W4249010688","https://openalex.org/W4254086355"],"related_works":["https://openalex.org/W2386430105","https://openalex.org/W2356521405","https://openalex.org/W2038534795","https://openalex.org/W1970724760","https://openalex.org/W2886263664","https://openalex.org/W1855200695","https://openalex.org/W2206877859","https://openalex.org/W3162535352","https://openalex.org/W2073519490","https://openalex.org/W2327953194"],"abstract_inverted_index":{"Maintaining":[0],"balance":[1,13,145,168],"is":[2],"fundamental":[3],"to":[4,27,76,84,98,115,118],"legged":[5],"robots.":[6],"The":[7],"most":[8],"commonly":[9],"used":[10,75],"mechanisms":[11],"for":[12,153],"control":[14,125,142],"are":[15],"taking":[16],"a":[17,28,49,58,85,108],"step,":[18],"regulating":[19],"the":[20,80,89,99,141,150,159],"center":[21,52,61,68],"of":[22,53,62,69,82,88,101,131,140,162],"pressure":[23],"(`ankle":[24],"strategies'),":[25],"and":[26,65,127,166],"lesser":[29],"extent,":[30],"changing":[31],"centroidal":[32],"angular":[33],"momentum":[34],"(e.g.,":[35],"`hip":[36],"strategies').":[37],"In":[38,91],"this":[39,92],"paper,":[40],"we":[41,94,156],"disregard":[42],"these":[43],"three":[44],"mechanisms,":[45],"instead":[46],"focusing":[47],"on":[48],"fourth:":[50],"varying":[51],"mass":[54,63,70],"height.":[55],"We":[56,105,121,136],"study":[57],"2D":[59],"variable-height":[60],"model,":[64],"analyze":[66],"how":[67],"height":[71,164],"variation":[72,165],"can":[73],"be":[74,113,116],"achieve":[77,119],"balance,":[78],"in":[79,133],"sense":[81],"convergence":[83],"fixed":[86],"point":[87],"dynamics.":[90],"analysis,":[93],"pay":[95],"special":[96],"attention":[97],"constraint":[100],"unilateral":[102],"contact":[103],"forces.":[104],"first":[106],"derive":[107,128],"necessary":[109,151],"condition":[110,152],"that":[111,138],"must":[112],"satisfied":[114],"able":[117],"balance.":[120,154],"then":[122],"present":[123],"two":[124],"laws,":[126],"their":[129],"regions":[130],"attraction":[132],"closed":[134],"form.":[135],"show":[137],"one":[139],"laws":[143],"achieves":[144],"from":[146],"any":[147],"state":[148],"satisfying":[149],"Finally,":[155],"briefly":[157],"discuss":[158],"relative":[160],"importance":[161],"CoM":[163],"other":[167],"mechanisms.":[169]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":12},{"year":2020,"cited_by_count":14},{"year":2019,"cited_by_count":17},{"year":2018,"cited_by_count":11},{"year":2017,"cited_by_count":7}],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2025-10-10T00:00:00"}