{"id":"https://openalex.org/W2782932641","doi":"https://doi.org/10.1109/humanoids.2017.8246926","title":"Gait generation via intrinsically stable MPC for a multi-mass humanoid model","display_name":"Gait generation via intrinsically stable MPC for a multi-mass humanoid model","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2782932641","doi":"https://doi.org/10.1109/humanoids.2017.8246926","mag":"2782932641"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2017.8246926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11573/1115858","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002495557","display_name":"Nicola Scianca","orcid":"https://orcid.org/0000-0002-5185-0924"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nicola Scianca","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091705160","display_name":"Valerio Modugno","orcid":"https://orcid.org/0000-0002-5177-428X"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Valerio Modugno","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053599061","display_name":"Leonardo Lanari","orcid":"https://orcid.org/0000-0002-8546-1783"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Leonardo Lanari","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085865201","display_name":"Giuseppe Oriolo","orcid":"https://orcid.org/0000-0001-6153-9278"},"institutions":[{"id":"https://openalex.org/I861853513","display_name":"Sapienza University of Rome","ror":"https://ror.org/02be6w209","country_code":"IT","type":"education","lineage":["https://openalex.org/I861853513"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Giuseppe Oriolo","raw_affiliation_strings":["Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dipartimento di Ingegneria Informatica, Sapienza Universit\u00e1 di Roma, Roma, Italy","institution_ids":["https://openalex.org/I861853513"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1313,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.51631588,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"547","last_page":"552"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9954000115394592,"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":0.9700999855995178,"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/zero-moment-point","display_name":"Zero moment point","score":0.889777660369873},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.7512584924697876},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6859625577926636},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.6737432479858398},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5716558694839478},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5533277988433838},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5167862176895142},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5091540217399597},{"id":"https://openalex.org/keywords/constant","display_name":"Constant (computer programming)","score":0.42564067244529724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3160811960697174},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.17395374178886414},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.16507434844970703},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.13080477714538574},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08107104897499084}],"concepts":[{"id":"https://openalex.org/C19245436","wikidata":"https://www.wikidata.org/wiki/Q279038","display_name":"Zero moment point","level":4,"score":0.889777660369873},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.7512584924697876},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6859625577926636},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.6737432479858398},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5716558694839478},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5533277988433838},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5167862176895142},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5091540217399597},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.42564067244529724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3160811960697174},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.17395374178886414},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.16507434844970703},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.13080477714538574},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08107104897499084},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/humanoids.2017.8246926","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2017.8246926","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.uniroma1.it:11573/1115858","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1115858","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.uniroma1.it:11573/1115858","is_oa":true,"landing_page_url":"http://hdl.handle.net/11573/1115858","pdf_url":null,"source":{"id":"https://openalex.org/S4377196107","display_name":"IRIS Research product catalog (Sapienza University of Rome)","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":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W968663011","https://openalex.org/W1485447451","https://openalex.org/W2021512411","https://openalex.org/W2037686067","https://openalex.org/W2052346842","https://openalex.org/W2056223738","https://openalex.org/W2060826135","https://openalex.org/W2071579643","https://openalex.org/W2095590857","https://openalex.org/W2107063340","https://openalex.org/W2108891947","https://openalex.org/W2117425572","https://openalex.org/W2126729486","https://openalex.org/W2129754669","https://openalex.org/W2138228021","https://openalex.org/W2153275253","https://openalex.org/W2198356383","https://openalex.org/W2206065720","https://openalex.org/W2217761195","https://openalex.org/W2267730214","https://openalex.org/W2539977475","https://openalex.org/W2568656471","https://openalex.org/W2734061735","https://openalex.org/W2774377244"],"related_works":["https://openalex.org/W2168647525","https://openalex.org/W1829175078","https://openalex.org/W2133801610","https://openalex.org/W2130383927","https://openalex.org/W2606527650","https://openalex.org/W2120357486","https://openalex.org/W2151003079","https://openalex.org/W2170918662","https://openalex.org/W2163503851","https://openalex.org/W2034988786"],"abstract_inverted_index":{"We":[0,86],"consider":[1],"the":[2,18,21,25,40,52,57,72,78,106],"problem":[3,76],"of":[4,20,39,59,92],"generating":[5],"a":[6,10,36,60,82,100],"gait":[7,74,101],"with":[8,47,64],"no":[9],"priori":[11],"assigned":[12],"footsteps":[13],"while":[14],"taking":[15],"into":[16,81,104],"account":[17,105],"contribution":[19],"swinging":[22,107],"leg":[23,108],"to":[24,70,98],"total":[26],"Zero":[27],"Moment":[28],"Point":[29],"(ZMP).":[30],"This":[31],"is":[32,68],"achieved":[33],"by":[34],"considering":[35],"multi-mass":[37,79],"model":[38],"humanoid":[41],"and":[42,51],"distinguishing":[43],"between":[44],"secondary":[45],"masses":[46],"known":[48],"pre-defined":[49],"motion":[50],"remaining,":[53],"primary,":[54],"masses.":[55],"In":[56],"case":[58],"single":[61,83],"primary":[62],"mass":[63],"constant":[65],"height,":[66],"it":[67],"possible":[69],"transform":[71],"original":[73],"generation":[75],"for":[77],"system":[80],"LIP-like":[84],"problem.":[85],"can":[87],"then":[88],"take":[89],"full":[90],"advantage":[91],"an":[93],"intrinsically":[94],"stable":[95],"MPC":[96],"framework":[97],"generate":[99],"that":[102],"takes":[103],"motion.":[109]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
