{"id":"https://openalex.org/W2530780090","doi":"https://doi.org/10.1109/humanoids.2016.7803272","title":"Automatic gain tuning of a momentum based balancing controller for humanoid robots","display_name":"Automatic gain tuning of a momentum based balancing controller for humanoid robots","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2530780090","doi":"https://doi.org/10.1109/humanoids.2016.7803272","mag":"2530780090"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803272","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":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1610.02849","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Daniele Pucci","orcid":null},"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":"Daniele Pucci","raw_affiliation_strings":["ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Gabriele Nava","orcid":null},"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":"Gabriele Nava","raw_affiliation_strings":["ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":null,"display_name":"Francesco Nori","orcid":null},"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":"Francesco Nori","raw_affiliation_strings":["ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ICUB Facility department, Istituto Italiano di Tecnologia, Genoa, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"141","issue":null,"first_page":"158","last_page":"164"},"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":0.9696000218391418,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9516000151634216,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.8070999979972839},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7961000204086304},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6047000288963318},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.54830002784729},{"id":"https://openalex.org/keywords/momentum","display_name":"Momentum (technical analysis)","score":0.39890000224113464},{"id":"https://openalex.org/keywords/positive-definiteness","display_name":"Positive definiteness","score":0.3734000027179718},{"id":"https://openalex.org/keywords/zero","display_name":"Zero (linguistics)","score":0.3720000088214874},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3659999966621399}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8070999979972839},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7961000204086304},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6047000288963318},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.54830002784729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5076000094413757},{"id":"https://openalex.org/C60718061","wikidata":"https://www.wikidata.org/wiki/Q1414747","display_name":"Momentum (technical analysis)","level":2,"score":0.39890000224113464},{"id":"https://openalex.org/C2778265155","wikidata":"https://www.wikidata.org/wiki/Q7233276","display_name":"Positive definiteness","level":4,"score":0.3734000027179718},{"id":"https://openalex.org/C2780813799","wikidata":"https://www.wikidata.org/wiki/Q3274237","display_name":"Zero (linguistics)","level":2,"score":0.3720000088214874},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3659999966621399},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35420000553131104},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.34310001134872437},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3411000072956085},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.31769999861717224},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3098999857902527},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.30320000648498535},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.30070000886917114},{"id":"https://openalex.org/C2984730371","wikidata":"https://www.wikidata.org/wiki/Q6501221","display_name":"Feedback controller","level":3,"score":0.29910001158714294},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.28850001096725464},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.28519999980926514},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28139999508857727},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.2782000005245209},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2662000060081482},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.2621000111103058},{"id":"https://openalex.org/C26355699","wikidata":"https://www.wikidata.org/wiki/Q1378139","display_name":"Robotic spacecraft","level":3,"score":0.258899986743927}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2016.7803272","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803272","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:arXiv.org:1610.02849","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1610.02849","pdf_url":"https://arxiv.org/pdf/1610.02849","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"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1610.02849","is_oa":true,"landing_page_url":"https://arxiv.org/abs/1610.02849","pdf_url":"https://arxiv.org/pdf/1610.02849","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":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2530780090.pdf","grobid_xml":"https://content.openalex.org/works/W2530780090.grobid-xml"},"referenced_works_count":19,"referenced_works":["https://openalex.org/W1506318495","https://openalex.org/W1560858199","https://openalex.org/W1661823234","https://openalex.org/W1982991768","https://openalex.org/W2054577881","https://openalex.org/W2080421646","https://openalex.org/W2081683070","https://openalex.org/W2085907600","https://openalex.org/W2107618938","https://openalex.org/W2143729862","https://openalex.org/W2146040776","https://openalex.org/W2220283420","https://openalex.org/W2335044248","https://openalex.org/W2346505884","https://openalex.org/W2963637864","https://openalex.org/W4254086355","https://openalex.org/W6619408975","https://openalex.org/W6629602037","https://openalex.org/W6641359410"],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,10,69],"technique":[4],"for":[5,15,71],"automatic":[6],"gain":[7,63],"tuning":[8],"of":[9,23,53,62],"momentum":[11],"based":[12],"balancing":[13],"controller":[14,19],"humanoid":[16,83],"robots.":[17],"The":[18],"ensures":[20],"the":[21,24,28,33,42,54,82],"stabilization":[22],"centroidal":[25],"dynamics":[26,38],"and":[27,41,58],"associated":[29],"zero":[30],"dynamics.":[31],"Then,":[32],"closed-loop,":[34],"constrained":[35],"joint":[36],"space":[37],"is":[39],"linearized":[40,55],"controller's":[43],"gains":[44],"are":[45,65,78],"chosen":[46],"so":[47],"as":[48],"to":[49],"obtain":[50],"desired":[51],"properties":[52],"system.":[56],"Symmetry":[57],"positive":[59,73],"definiteness":[60],"constraints":[61],"matrices":[64],"enforced":[66],"by":[67],"proposing":[68],"tracker":[70],"symmetric":[72],"definite":[74],"matrices.":[75],"Simulation":[76],"results":[77],"carried":[79],"out":[80],"on":[81],"robot":[84],"iCub.":[85]},"counts_by_year":[{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2016-10-21T00:00:00"}