{"id":"https://openalex.org/W2567732475","doi":"https://doi.org/10.1109/humanoids.2016.7803411","title":"Dynamic behaviors on the NAO robot with closed-loop whole body operational space control","display_name":"Dynamic behaviors on the NAO robot with closed-loop whole body operational space control","publication_year":2016,"publication_date":"2016-11-01","ids":{"openalex":"https://openalex.org/W2567732475","doi":"https://doi.org/10.1109/humanoids.2016.7803411","mag":"2567732475"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2016.7803411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803411","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":["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/A5009026972","display_name":"Donghyun Kim","orcid":"https://orcid.org/0000-0001-9534-5383"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Donghyun Kim","raw_affiliation_strings":["Institute for Information Processing Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Processing Technology, Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022756823","display_name":"Steven Jens Jorgensen","orcid":"https://orcid.org/0000-0003-1305-8714"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Steven Jens Jorgensen","raw_affiliation_strings":["Institute for Information Processing Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Processing Technology, Karlsruhe, Germany","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001594330","display_name":"Peter Stone","orcid":"https://orcid.org/0000-0002-6795-420X"},"institutions":[{"id":"https://openalex.org/I143379178","display_name":"FZI Research Center for Information Technology","ror":"https://ror.org/04kdh6x72","country_code":"DE","type":"nonprofit","lineage":["https://openalex.org/I143379178"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Peter Stone","raw_affiliation_strings":["Research Center for Information Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Information Technology, Karlsruhe, Germany","institution_ids":["https://openalex.org/I143379178"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5079374033","display_name":"Luis Sentis","orcid":"https://orcid.org/0000-0003-2856-4863"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luis Sentis","raw_affiliation_strings":["Institute for Information Processing Technology, Karlsruhe, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Information Processing Technology, Karlsruhe, Germany","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.6466,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.83364525,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"1121","last_page":"1128"},"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":0.9976000189781189,"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/T12400","display_name":"Neurogenetic and Muscular Disorders Research","score":0.9642000198364258,"subfield":{"id":"https://openalex.org/subfields/2716","display_name":"Genetics"},"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":0.665103018283844},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5965582132339478},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5264813899993896},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5238808989524841},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.4957908093929291},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4654430150985718},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.43848884105682373},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.41312289237976074},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1918557584285736},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17214611172676086},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15803760290145874},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1184697151184082}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.665103018283844},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5965582132339478},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5264813899993896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5238808989524841},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.4957908093929291},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4654430150985718},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.43848884105682373},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.41312289237976074},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1918557584285736},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17214611172676086},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15803760290145874},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1184697151184082},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2016.7803411","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2016.7803411","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"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.44999998807907104,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W3584668","https://openalex.org/W110443781","https://openalex.org/W1945123189","https://openalex.org/W2003376746","https://openalex.org/W2005099894","https://openalex.org/W2019606703","https://openalex.org/W2035653862","https://openalex.org/W2077941066","https://openalex.org/W2099129715","https://openalex.org/W2104181254","https://openalex.org/W2118840382","https://openalex.org/W2139612757","https://openalex.org/W2143729862","https://openalex.org/W2155658243","https://openalex.org/W2182614047","https://openalex.org/W2250331966","https://openalex.org/W2296360731","https://openalex.org/W2963560370","https://openalex.org/W3084365688","https://openalex.org/W3145941942","https://openalex.org/W4237726214","https://openalex.org/W6685881247"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W1984283682","https://openalex.org/W1965257389","https://openalex.org/W2018238589","https://openalex.org/W2143286369"],"abstract_inverted_index":{"Exploiting":[0],"full-body":[1,36],"dynamics":[2,37],"in":[3,100,129,141,180,229],"feedback":[4],"control":[5,29,97,153,222],"can":[6],"enhance":[7],"the":[8,31,83,95,105,108,115,124,136,142,159,169,190,202,207],"balancing":[9,96,127],"capability":[10,128,148],"of":[11,30,126,161,184,192,209],"a":[12,64,130,162,181,185,197,230,236],"legged":[13],"system":[14,144,233],"using":[15],"various":[16],"techniques":[17],"such":[18],"as":[19,165],"Whole-Body":[20,58],"Control":[21,61],"(WBC)":[22],"or":[23],"Centroidal":[24,116],"Momentum":[25,118],"control.":[26],"However,":[27],"motion":[28,200],"NAO":[32,204],"robot":[33,171],"based":[34,176],"on":[35,201],"has":[38],"not":[39],"been":[40],"extensively":[41],"studied":[42],"due":[43],"to":[44,54,81,93,168,214,226],"its":[45,55,71],"limited":[46,49,146],"computation":[47],"power,":[48],"sensors,":[50],"and":[51,90,114,122,149,172,220,224,239],"restricted":[52,231],"access":[53],"low-level":[56],"controllers.":[57],"Operational":[59],"Space":[60],"(WBOSC)":[62],"is":[63,154],"promising":[65],"WBC":[66,140],"approach":[67,194],"for":[68],"NAO,":[69],"since":[70],"closed":[72],"form":[73],"solution":[74],"provides":[75],"computational":[76,137],"efficiency.":[77],"But,":[78],"users":[79],"need":[80],"provide":[82],"velocity":[84],"map":[85],"(Jacobian)":[86],"between":[87],"operational":[88],"space":[89,92],"configuration":[91],"add":[94],"task.":[98],"Thus,":[99],"this":[101,210],"paper,":[102],"we":[103],"formulate":[104],"Jacobians":[106],"incorporating":[107],"Capture":[109],"Point":[110],"(CP)":[111],"technique":[112],"[1]":[113],"Angular":[117],"(CAM)":[119],"[2],":[120],"[3],":[121],"demonstrate":[123,189],"enhancement":[125],"physics-based":[131],"simulation.":[132],"While":[133],"WBOSC":[134,216,228],"reduces":[135],"load,":[138],"implementing":[139],"real":[143,170],"with":[145],"sensing":[147],"built-in":[150],"joint":[151],"position":[152],"challenging.":[155],"We":[156,188],"show":[157],"that":[158],"combination":[160],"virtual":[163,237],"model":[164,238],"an":[166,173,240],"interface":[167],"Extended":[174],"Kalman-filter":[175],"orientation":[177,241],"estimator":[178],"results":[179],"stable":[182],"implementation":[183],"closed-loop":[186],"WBOSC.":[187],"validity":[191],"our":[193],"by":[195,217,234],"performing":[196],"dynamic":[198],"kicking":[199],"physical":[203,232],"robot.":[205],"Overall,":[206],"contributions":[208],"paper":[211],"are:":[212],"(1)":[213],"extend":[215],"adding":[218],"CAM":[219],"CP":[221],"tasks,":[223],"(2)":[225],"implement":[227],"utilizing":[235],"estimator.":[242]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}